Husarion ROSbot Series User manual

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ROSbot manual
Overview
ROSbot is an autonomous robot platform based on Husarion CORE2-ROS robot controller available
in two version: 2.0 and 2.0 PRO.
ROSbot is an affordable robot platform for rapid development of autonomous robots. It can be a
base for custom service robots, inspection robots and robots working in swarms. Both version
integrates:
4-wheels mobile platform containing DC motors with encoders and an aluminum frame
Orbbec Astra RGBD camera
ROSbot 2.0 - Autonomous robot development kitROSbot 2.0 - Autonomous robot development kit
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MPU 9250 inertial sensor (accelerometer + gyro)
rear panel providing interfaces for additional modules
In ROSbot 2.0:
CORE2-ROS controller with Asus Tinker Board with Rockchip RK3288 up to 1,8GHz, 2GB DDR3
RAM and 16 GB MicroSD.
RPLIDAR A2 laser scanner
In ROSbot 2.0 PRO:
CORE2-ROS controller with UpBoard UP with Intel® ATOM™ x5-Z8350 Processors 64 bits up to
1.92GHz, 4GB DDR3L RAM and 32GB eMMC.
RPLIDAR A3 laser scanner
You can use your ROSbot offline however we recommend connecting to Husarion Cloud as it gives
you access to a lot of additional functionalities like remote management and firmware updates.
If you do not own ROSbot yet, you can purchase it here.
You can also test the performance of ROSbot using our simulation model in Gazebo environment. It
is available here, at our GitHub page.
Front Back Perspective
Front Back Perspective
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You can find free ROS tutorials dedicated for ROSbot under this link. They will guide you through
different aspects of programming autonomous vehicles in ROS
Hardware guide
Specification
Attribute Description
Dimensions with camera and
LiDAR 200 x 235 x 220mm / 7.87 x 9.25 x 8.66in [L x W x H]
Dimensions without LiDAR 200 x 235 x 146mm / 7.87 x 9.25 x 5.74in [L x W x H]
Dimensions without camera
and LiDAR 200 x 235 x 106mm / 7.87 x 9.25 x 4.17in [L x W x H]
Weight 2,84kg / 100oz (with camera and LiDAR), 2,45kg / 86oz
(without camera and LiDAR)
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Wheel diameter / Clearance /
Wheelbase
85mm / 22mm / 105mm
Chassis material Powder-coated aluminum plate, 1.5mm thick
Maximum translational
velocity 1.25 m/s
Maximum rotational velocity 420 deg/s (7.33 rad/s)
Maximum load capacity 10kg / 352oz
Battery life 1.5h - 5h
Components
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Components description
Component Quantity Description
Infrared
distance
sensor
4VL53L0X Time-of-Flight distance sensor with up to 200 cm range,
more details.
DC motor 4
Xinhe Motor XH-25D Motor used: RF-370, 6VDC nominal, 5000rpm
No load speed at the output shaft: 165 rpm Stall torque: 2.9 kg*cm
Stall current: 2.2A Gear ratio: ~34 (exact ratio is 30613/900) Encoder:
magnetic, 48ppr, 12 poles
IMU sensor 1 Powerful 9-Axis Accel/Gyro/Magnetometer sensor with MPU-9250,
more details.
RGBD 1 Orbbec Astra with RGB image size 640x480 and depth image size
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camera 640x480.
Batteries 3
Li-Ion 18650 protected, rechargeable batteries, 3500mAh capacity,
3.7V nominal voltage
Note: Device may be shipped interchangeably with similar batteries.
Antenna 1 Connected directly to the ASUS Tinker Board Wi-Fi module. Uses an
RP-SMA(m) <-> I-PEX MHF4 cable to connect the antenna with SBC.
In ROSbot 2.0:
Component Quantity Description
CORE2-ROS 1
Advanced version of CORE2 with an ASUS Tinker board computer.
CORE2 real-time controller is based on STM32F407 microcontroller.
The SBC runs on Ubuntu-based OS, customized to use ROS.
LIDAR 1 RpLidar A2, 360 degree and up to 8m range, more details.
In ROSbot 2.0 PRO:
Component Quantity Description
CORE2-ROS 1
Advanced version of CORE2 with an Up Board computer. CORE2
real-time controller is based on STM32F407 microcontroller. The
SBC runs on Ubuntu-based OS, customized to use ROS.
LIDAR 1 RpLidar A3, 360 degree and up to 25m range, more details.
Rear panel description
.
Component Quantity Description
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Antenna
connector 1 Wi-Fi antenna RP-SMA socket. Required for Wi-Fi connectivity.
USB 2 USB 2.0 host ports from SBC.
HDMI 1 HDMI output from SBC.
Power
switch 1 Turns ROSbot completely ON or OFF.
LEDs 6 LR1(yellow), LR2(blue), L1(red), L2(green), L3(green), PWR(red), more
details here.
reset
button 1 Button used for reset CORE2.
hCfg button 1 Button used for connecting ROSbot to [Husarion Cloud]
(https://cloud.husarion.com/).
hBtn 2 hBtn1, hBtn2 - programmable buttons.
Outputs for
servo 6 Servo output with PWM, more details here.
USB serial 1 USB serial port used for debugging the firmware on CORE2-ROS
controller.
Charging
connector 1 6-pin connector for charging internal Li-Ion batteries.
DC power
input 1
DC for working with external 12V power supply. Use the power
supply included with charger or any 12V, min. 5A power supply with
5.5/2.5mm plug (center-positive).
Time-of-
Flight
distance
sensor
2VL53L0X Time-of-Flight distance sensor with up to 200 cm range,
more details here.
hExt 1 12xGPIO, 7x ADC, SPI, I2C, UART, more details here.
hSens 1 4 xGPIO, ADC, UART, more details here.
Power supply
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ROSbot is powered from an internal, rechargeable Li-Ion battery pack that contains 3 Li-Ion cells,
connected in series. This type of connection is called “3S”. The schematic below explains how the
cells are wired together and with the charging connector (on ROSbot side).
The BAT+ and BAT- are the power connections and the “bal Bxx” wires are used to monitor the
voltage on each cell. It is strongly recommended to keep equal voltages on each cell during the
charging process. The charger included with ROSbot can charge batteries in the described way and,
thanks to that, the long life of the battery set is possible.
The nominal voltage of each cell is 3.7V but the useful range is 3.2V to 4.2V.
Important - discharge indicator If only the right firmware is preloaded to the internal controller
(CORE2), the LED1 is programmed to indicate the power status:
the LED1 is on when the robot is turned on
the LED1 is blinking when battery is low – please charge immediately!
Please make sure that the user firmware always contains the function that monitors the supply
voltage level. Deep discharging of batteries may decrease their lifecycle. Discharging to the voltage
lower than 3.0V/cell can also trigger the over discharge protection. If the voltage is too low, turn
ROSbot off and charge batteries as soon as possible.
Charging ROSbot
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The ROSbot kit contains the Redox Beta charger. It is an universal charger, suitable for charging
NiCd, NiMH, Li-Po, Li-Fe, Li-Ion and Pb (AGM, VRLA) batteries. ROSbot shall be charged using an
included charger and cable.
Charger kit includes:
Redox Beta charger
AC/DC power adapter 100...240V to 12V 5A with 5.5/2.5mm plug on the 12V side
a cable to connect charger with ROSbot charging port
Quick charging guide:
1. Connect the power adapter to the charger and the output cable between charger and ROSbot
(2 connectors on charger side, 1 black connector to ROSbot charging port).
2. Use red and blue buttons to select “LiPo BATT” mode and press [Start].
3. Use arrows to select “LiPo CHARGE” mode.
4. Press [Start] - the current value should start blinking. Use arrows to set the current to 1.5A.
5. Press [Start] again - the voltage value should start blinking. Select “11.1V(3S)” using arrows. The
picture below shows the desired result.
6. Press and hold [Start] for 2 seconds. The charger should now ask for confirmation. Press [Start]
again. The charging process should begin now.
7. When the charging will be finished (after about 3 hours), the charger will generate a loud “beep”
sound and will finish charging at the same time.
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If you need more information about charging, please read the Charging manual for ROSbot in PDF
format.
Notes
You can change charging current to maximum 3A. Please note that a regular charging with the
maximum current can shorten the battery life.
If you are going to use ROSbot stationary for a long time, you can use ROSbot with charger
connected (and charging) all the time. It will increase the batteries lifetime. Align the charging
current to keep the voltage at about 11.1V-12V.
In case you need to replace batteries, use only 18650 Li-Ion batteries, with the capacity in a
range of 1800...3500mAh and with a protection circuit! Using unprotected batteries may result
in serious injuries or fire.
Unplug charging connectors carefully. You shall not unplug the charger connectors holding the
wires. The balancer connection on ROSbot side has a latching tab (see photo below) that must
be pressed before unplugging. On the charger side there is no latching tab but you should also
unplug this connector holding the white plug.
Software
Software for ROSbot can be divided into 2 parts:
A firmware that works on the real-time controller (CORE2) and can be developed and uploaded
from Husarion Cloud with WebIDE. It can also be developed offline using Visual Studio Code
IDE.
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OS based on Ubuntu 16.04, which runs on the SBC (ASUS Tinker Board) and contains all
components needed to start working with ROS immediately. The microSD card with OS is
included with each ROSbot. The OS has been modified to make the file system insensitive to
sudden power cuts.
System reinstallation
In some cases you will need to restore ROSbot system to its default settings:
in case of accidential damage of the system,
to update the OS (it can be udpated remotely, but flashing the microSD card can be easier
sometimes),
to clear all user changes and restore factory settings.
This process will differ depending on ROSbot version that you have.
ROSbot 2.0
1. Extract SD card from ROSbot, by pushing card carefully until it is released back by card holder,
thel pull it out. You can find SD card slot on ROSbot right side.
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2. Download image for Raspberry Pi/Tinkerboard from here (there is a single image for both
platforms).
3. Extract downloaded image (For this process we recommend using 7zip)
4. Flash the extracted image onto SD card (For this process we recommend using Etcher but any
image writing tool will be good):
If you want to replace the included card, remember that you need to use at least 16 GB capacity
and 10 speed class micro SD card.
Download Etcher and install it.
Connect an SD card reader with the SD card inside.
Open Etcher and select from your hard drive .img file that you extracted.
Select the SD card you wish to write your image to.
Review your selections and click 'Flash!' to begin writing data to the SD card.
5. Insert SD card back to ROSbot
6. Proceed to Connecting to Husarion cloud section.
ROSbot 2.0 PRO
Before you begin, you will need:
USB drive (at least 8GB)
Mouse, keyboard and USB hub
Display with HDMI cable
1. Download Ubuntu 16.04 installation image from official Ubuntu Releases.
2. Flash Ubuntu on USB drive (For this process we recommend using Etcher but any image writing
tool will be good):
Download Etcher and install it.
Plug in USB drive into your computer.
Open Etcher and select from your hard drive .iso file that you downloaded.
Select the USB drive you wish to write your image to.
Review your selections and click 'Flash!' to begin writing data to the USB drive.
3. Plug keyboard and mouse through USB hub to one of the USB-A ports on ROSbot rear panel.
4. Connect monitor to HDMI port on ROSbot rear panel.
5. Plug in USB drive into second USB-A port on ROSbot rear panel.
6. Press "Esc" during booting.
7. You will see blue window with "Enter Password", press "Enter".
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8. Click "Right arrow" to enter Boot card and change Boot Option Priorities for your USB drive.
9. Save & Exit.
10. After Restart chose option Install Ubuntu (remember to choose option with erasing new Ubuntu
and remove all part of the old one).
11. After installation go to files.husarion.com and download upboard.sh file.
12. Change file permissions: sudo chmod 777 upboard.sh
13. Run file: sudo ./upboard.sh (remember to chose option "NO" when you will see a dialog
window with question about abandon kernel removal).
14. After finish, reboot device.
15. Proceed to Connecting to Husarion cloud section.
Connecting to Husarion Cloud
There are three ways to connect ROSbot to Husarion cloud: ethernet connection, mouse + keyboard
or mobile app. Choose the most comfortable for you.
Option 1: using display, mouse and keyboard (works for ROSbot 2.0 and for
ROSbot 2.0 PRO)
ROSbot is basically a computer running Ubuntu, so let's configure it like a standard PC computer.
1. Plug in a display with HDMI, mouse and keyboard into USB port in the rear panel of ROSbot.
2. Turn on the robot and wait until it boots.
3. Connect to a Wi-Fi network
4. Connect to a Husarion cloud
open https://cloud.husarion.com in your web browser
click Add new button
enter device name and click Next
copy a code under a QR code (it looks like: prod|xxxxxxxxxxxxxxxxxxxxxx )
open Linux terminal execude a command (including code from the previous step) sudo
husarion-register --code "prod|xxxxxxxxxxxxxxxxxxxxxx" , and then sudo systemctl restart
husarnet-configurator
after a few seconds you should see your device online at https://cloud.husarion.com
Option 2: using Ethernet adapter (works for ROSbot 2.0 and for ROSbot 2.0
PRO)
In the ROSbot 2.0 set there is a USB-Ethernet card. Use it for the first setup.
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1. Turn on the robot and wait until it boots.
2. Plug in Ethernet adapter (included in set) to USB port in the rear panel
3. Plug in one end of the Ethernet cable into your computer and other one to the adapter
4. Connect with ROSbot via ssh, type in your terminal application: ssh [email protected] and
passowrd husarion
5. Connect to a Wi-Fi network
in the terminal type nmcli c add type wifi save yes autoconnect yes con-name rosbot20wifi
ifname wlan0 ssid <NetworkSSID> and press Enter
type nmcli c modify rosbot20wifi wifi-sec.key-mgmt wpa-psk wifi-sec.psk <Password> and
press Enter to obtain an IP address and connect to the WiFi network
6. Connect to a Husarion cloud
open https://cloud.husarion.com in your web browser
click Add new button
enter device name and click Next
copy a code under a QR code (it looks like: prod|xxxxxxxxxxxxxxxxxxxxxx )
open Linux terminal execude a command (including code from the previous step) sudo
husarion-register --code "prod|xxxxxxxxxxxxxxxxxxxxxx" , and then sudo systemctl restart
husarnet-configurator
after a few seconds you should see your device online at https://cloud.husarion.com
Option 3: using hConfig app (only for ROSbot 2.0)
That's a deprecated option, so previously mentioned instructions are prefferred.
Press and hold the hCfg button on ROSbots rear panel.
Turn on the power switch.
When blue and yellow LEDs starts blinking, release the hCfg button.
Connect your mobile device to Husarion Wi-Fi and open hConfig app (hConfig in AppStore or
hConfig in Google Play) to connect ROSbot to the Wi-Fi network and your user account at
cloud.husarion.com (how to do this).
ROS tutorials
ROS (Robot Operating System) provides libraries and tools to help software developers create robot
applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing,
package management, and more. It's very powerful and functional tool dedicated to design robots.
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We created the set of ROS tutorials dedicated for this platform to make it easier to familiarize
yourself with these frameworks.
Configuring ROSbot to work with 5GHz WiFi.
By default ROSbot supports WiFi in 2.4GHz band, this is sufficent for most cases. If you encounter
problems with data transfers e.g. due to processing large amounts of data or noise from other
networks you can try to use connection in 5GHz band.
Device installation
To do this, you will need a USB 5GHz WiFi card (any device based on RTL8811AU or RTL8812AU
should be fine,we have tested it with TP-Link Archer T4U and D-Link DWA-172).
ROSbot 2.0 is supporting the adapters by default, if you have recent image version you can skip
update and kernel instal, otherwise do:
For ROSbot 2.0 PRO some modifications are required:
WiFi setup
For Remote Desktop or keyboard and display, you can use desktop GUI tools to setup connection.
For SSH method type ifconfig to list network interfaces, you should see now new interface named
wlan1 .
sudo apt-get update
sudo apt-get install tinkerboard-kernel
modprobe rtl8812au
sudo apt install linux-headers-generic-hwe-16.04-upboard
git clone https://github.com/abperiasamy/rtl8812AU_8821AU_linux.git
cd rtl8812AU_8821AU_linux/
make
sudo make install
sudo modprobe -a rtl8812au
sudo cp -R . /usr/src/rtl8812AU_8821AU_linux-1.0
sudo dkms add -m rtl8812AU_8821AU_linux -v 1.0
sudo dkms build -m rtl8812AU_8821AU_linux -v 1.0
sudo dkms install -m rtl8812AU_8821AU_linux -v 1.0
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← TELEPRESENCE ROBOT KIT MANUAL HUSARION ADD-ONS →
Now, list all available newtworks:
Connect to selected WiFi with:
Remember to replace <NetworkSSID> and <Password> with name and passowrd of chosen network.
ROSbot will try to connect to this network each time it boots.
Docs and links
All helpful documents and links in one place:
ROSbot Safety Instructions - important!
Charging manual for ROSbot
ROS tutorials for ROSbot
ROSbot on ROS webpage
ROSbot on ROS Wiki
URDF model of ROSbot - for Gazebo integrated with ROS
ROSbot project on hackaday.io
ROSbot project on instructables.com
sudo iwlist wlan1 scanning | grep ESSID
nmcli c add type wifi save yes autoconnect yes con-name <NetworkSSID> ifname wlan1 ssid <Net
nmcli c modify <NetworkSSID> wifi-sec.key-mgmt wpa-psk wifi-sec.psk <Password>
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