Hi ROS Community, I started a year and half ago building a ROS enabled tiny robot that costs a quarter of other equivalent robots and that has all the goodies for mobile robotics research right here on my desk. Besides the usual interruptions and a ton of lessons learnt with low cost hardware, I'm proud to share my results with you, Trinibot V2.0! ![TRINIBOT_V2_wm|690x381](upload://n0siQ5ieAIkcdZuVWxmZzpyh3DD.jpg) ![Features_wm|690x298](upload://wI3tYA8uUyzAjmvean0Dz5psmUm.jpg) ![IMG_4552_watermark|640x480](upload://2o9gLeONjJMkKKc5iVys8D6tTSu.jpg) ![Map-building|690x394](upload://70d8qxwOLlHXHFDDMAsDIAWz2NR.png) Here's what she has: * Quad core RPi3 running ROS Kinetic on Ubuntu Mate 16.04 * Softkinetic DS525 Time of Flight - 0.15 to 1m @ 320x240 with a 720p RGB camera * Filtered IMU and magnetometer * Temperature and humidity sensors. * In-built 3.6Ah 12V rechargeable battery * WiFi and Bluetooth * Additional USB port and DC 5V socket for peripherals * 8 channel 12 bit ADC for analog sensors * A joystick for some interaction * A 8x8 RGB panel to generate markers and bitmaps * Differential wheel rate control from 1 to 10cm/sec and 0.2 to 1.57 deg/sec with odometry * Two additional motors (open-loop) for a robot arm or other actuation * Can be ported to other robot differential wheel chassis with DC servos upto 12V 1A. * Develop and test while charging! ROS functionality (so far) * Full TF tree * Sensor messages * GMapping * EKF localization She runs for about 2 hrs with stops and constant sensor streams over wifi. I still need to redefine the covariances for the various sensors (and a lot of other tests of the entire stack). The next steps are: URDF Navigation stack Interactive functionality Keen to hear thoughts, questions and critique that will make Trinibot awesome and community friendly! Cheers, Kesh --- [Visit Topic](https://discourse.ros.org/t/trinibot-a-tiny-desktop-research-robot-for-ros/3177/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: