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!
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: <
http://lists.ros.org/mailman//options/ros-users>
%0A>%20!%5BFeatures_wm%7C690x298%5D(upload://wI3tYA8uUyzAjmvean0Dz5psmUm.jpg)%0A>%20!%5BIMG_4552_watermark%7C640x480%5D(upload://2o9gLeONjJMkKKc5iVys8D6tTSu.jpg)%0A>%20!%5BMap-building%7C690x394%5D(upload://70d8qxwOLlHXHFDDMAsDIAWz2NR.png)%0A>%20%0A>%20Here's%20what%20she%20has:%0A>%20*%20Quad%20core%20RPi3%20running%20ROS%20Kinetic%20on%20Ubuntu%20Mate%2016.04%0A>%20*%20Softkinetic%20DS525%20Time%20of%20Flight%20-%200.15%20to%201m%20@%20320x240%20with%20a%20720p%20RGB%20camera%0A>%20*%20Filtered%20IMU%20and%20magnetometer%0A>%20*%20Temperature%20and%20humidity%20sensors.%0A>%20*%20In-built%203.6Ah%2012V%20rechargeable%20battery%0A>%20*%20WiFi%20and%20Bluetooth%0A>%20*%20Additional%20USB%20port%20and%20DC%205V%20socket%20for%20peripherals%0A>%20*%208%20channel%2012%20bit%20ADC%20for%20analog%20sensors%0A>%20*%20A%20joystick%20for%20some%20interaction%0A>%20*%20A%208x8%20RGB%20panel%20to%20generate%20markers%20and%20bitmaps%20%20%0A>%20*%20Differential%20wheel%20rate%20control%20from%201%20to%2010cm/sec%20and%200.2%20to%201.57%20deg/sec%20with%20odometry%20%0A>%20*%20Two%20additional%20motors%20(open-loop)%20for%20a%20robot%20arm%20or%20other%20actuation%0A>%20*%20Can%20be%20ported%20to%20other%20robot%20differential%20wheel%20chassis%20with%20DC%20servos%20upto%2012V%201A.%0A>%20*%20Develop%20and%20test%20while%20charging!%20%0A>%20%0A>%20ROS%20functionality%20(so%20far)%0A>%20*%20Full%20TF%20tree%0A>%20*%20Sensor%20messages%20%0A>%20*%20GMapping%0A>%20*%20EKF%20localization%0A>%20%0A>%20She%20runs%20for%20about%202%20hrs%20with%20stops%20and%20constant%20sensor%20streams%20over%20wifi.%20I%20still%20need%20to%20redefine%20the%20covariances%20for%20the%20various%20sensors%20(and%20a%20lot%20of%20other%20tests%20of%20the%20entire%20stack).%0A>%20%0A>%20The%20next%20steps%20are:%0A>%20URDF%0A>%20Navigation%20stack%0A>%20Interactive%20functionality%0A>%20%0A>%20Keen%20to%20hear%20thoughts,%20questions%20and%20critique%20that%20will%20make%20Trinibot%20awesome%20and%20community%20friendly!%20%0A>%20%0A>%20Cheers,%0A>%20%0A>%20Kesh%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20---%0A>%20%5BVisit%20Topic%5D(https://discourse.ros.org/t/trinibot-a-tiny-desktop-research-robot-for-ros/3177/1)%20or%20reply%20to%20this%20email%20to%20respond.%0A>%20%0A>%20%0A>%20If%20you%20do%20not%20want%20to%20receive%20messages%20from%20ros-users%20please%20use%20the%20unsubscribe%20link%20below.%20If%20you%20use%20the%20one%20above,%20you%20will%20stop%20all%20of%20ros-users%20from%20receiving%20updates.%0A>%20______________________________________________________________________________%0A>%20ros-users%20mailing%20list%0A>%20ros-users@lists.ros.org%0A>%20http://lists.ros.org/mailman/listinfo/ros-users%0A>%20Unsubscribe:%20<http://lists.ros.org/mailman//options/ros-users>%0A>%20%0A>%20 "Besvar denne besked")
(text/plain)