YZ Robot ROSYZ-02 User manual

深圳市璞数技术有限公司
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ROSYZ-02 Robot Platform
USER MANUAL
Rev: 2.0(Dec 2019)
SHENZHEN YZ ROBOT CO. LTD

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§1 Brief Introduction
§1.1ROSYZ-02 Basic Information
ROSYZ-02 robot platform is a four wheels differential heavy load robot motion
chassis platform based on ROS architecture. It is designed for college outdoor
applications.
The platform can load up to 80KG, and the maximum walking speed can reach
1.0 meters per second. ROSYZ-02's built-in DCDC power conversion module can
provide four different voltages of 5V, 12V and 24V, which can basically solve the power
supply problems of various sensors that the robot needs to carry. In order to facilitate
developers to do in-depth research, the ROS platform motion control board and DCDC
power board circuit diagram and detailed interface drawings we also provide.
This YZ-02 ROS platform has built-in Intel i5 CPU industrial personal computer,
installed Ubuntu 16.04 O/S and ROS Kinetic packages. YZ-02 also has ultrasonic wave
sensors which can provide basic obstacle avoidance. As optional parts, we provide auto
charging dock and LIDAR for real applications.
At the same time, like other ROS platform robots, ROS YZ-02 provides open
source basic ROS application examples and basic motion driven node programs that
allow developers to use it very easily.
§1.2 Main parts of ROSYZ-02
Support poles
Emergency Stop
PC & circuits
on/off
Ultrasonic sensors
(rear face)
User Deck
Base cover
Top cover
Wheel & motor
Auto charging
(optional part)
Main on/off
Ultrasonic sensors
(Front face)
Cable in/out
VGA & USB
(remove cover)

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<PC & circuits on/off> body LED status indictors:
Blue solid: Battery full charged (at charging)
Blue slow flashing(0.5HZ): Normal working(not charging)
Blue fast flashing(2HZ): Low battery(not charging)
Blue breathing : Charging
§1.3 ROSYZ-02 Control Board connectors definition
CON13/ 29 / 32 / 12 / 21 / 11 /10 / 20 / 15 / 18 / 17 / 8 / 9 / 14 / 25 / 35
REST RS232 CON27 CON5/ 28 / 22 / 7 / GPIO
JP4 CON1 CON19 CON16 JP5
CON30 / 33 / 31 / 24 / 23 / 2 / 3 / 6 / 4 / USB1 / USB2

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Connectors Definition:
Power ports
CON13 Battery input(24V)
CON29 Battery input (24V)
CON32 Charger input
CON12 Charger input
CON21 Power switch
CON10 Battery output (24V)
CON11 battery output (24V)
CON20 Emergency stop switch
CON15 Motor power output
CON18 +19V output
CON17 +12V output
CON8 +12V output
CON9 +12V output
CON14 +12V output
CON25 +12V output
CON26 +12V output (isolated)
CON28 +5V output
CON22 +5V output (isolated)
Communication and others
RS232 UART port
CON27: Front ultrasonic sensors
CON5: NA
CON7:NA
CON30: ON/OFF button
CON33: LEDs display board
CON31: SWD
CON24 : NA
CON23: Back ultrasonic sensors
CON2: TTL RS232
CON3 :NA
CON6: NA
CON4: NA
USB1: USB debug
USB2:NA
JP4: NA
JP5: NA
CON1: NA
CON19: Left wheel driver
CON16: Right wheel driver
JP6, JP7,JP8: GPIO

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JP6: GND
JP8: VCC
JP7:
PF7: power on signal
PF8:NA
PF9,PF10: Auto charging guide signal
PE0,PE1: NA
PA4,PA5:NA
PWM1,PWM2: NA
PWM3:NA
PWM4:NA

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§1.4 Auto Charging dock (Optional part)
ROSYZ-02 Auto charging dock profile
Installation guide：Please put this charging dock against a flat wall, make sure the
front of charging dock is empty enough (> 3.0 meters @ 120°),
without any obstacle in this area.
AC power input port
Charging
guide sensor
Power LED
RED: power on
Charging
Output pins
Charging LED
RED: charging
Green: full
Off: Idle
Mounting
holes

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§1.5 Software installed on the robot computer
ROSYZ-02 has Intel i5 CPU personal computer and pre-installed following items：
1. LINUX ：UBUNTU 16.04, user name: robot; password: 1
2. ROS basic ：KINETIC FULL-DESK
3. ROS application packages(under “ws”folder) :
3.1 STM32_CONNECT （platform drivers and communication）
3.2 ROBOT_MSGS （YZ02 special message）
3.3 YDLIDAR （Optional LIDAR package from EAI）
3.4. MIIBOO_IMU（Optional IMU package from Miiboo）
3.5 RBX1_NAV （SLAM and navigation demo）
§1.6 ROSYZ-02 sensors installed:
ROSYZ-02 pre-installed sensors list (include optional parts)
1. Ultrasonic wave module: DYP-ME007YY V2.0
2. Mechanical safety strip.
3. LIDAR (Optional part, required by user)
4. Auto charging dock (Optional part, required by user)
5. IMU module (Optional part, required by user)
6. Wireless keyboard and mouse (Optional part, required by user)
7. Wireless joystick (Optional part, required by user)

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§1.7 ROSYZ-02 default packing list(not include optional parts)
Item
qty
unit
Remark
Main platform
1
set
No battery and decks
User decks
1
pc
Support pole
4
pc
Battery Charger
1
pc
P/N: L200CM-24F8
AC power cord
1
pc
Europe type plug
M4 Screw
5
pc
Screwdriver
1
pc
For M4 screw above
DCDC cable
1
set
8 wires, 10~20cm
ROS SDK and Demo
1
set
Free download
User Manual
1
pc
PDF format
LiFePO4 BATTERY
1
pc
25.2V14Ah

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§2 How to use
§2.1 First of first
The ROSYZ-02 robot platform is designed for ROS robot developers. Operators
must have the basic knowledge of ROS robots. Please read through this manual
before using it, especially read the “Cautions” on the next page carefully.
§2.2 Using step by step
2.2.1 Check the completeness of the accessories：
Open the packing cartons of the robot, take out the ROSYZ-02 robot
movement chassis and all parts, and check the packing list, check whether
there are leakage and wrong loading.
2.2.2 Install battery-pack and decks
For transportation safety, the battery pack and the body of the ROSYZ-02
robot are individually packaged. Before using, please install the battery firstly.
Remove the top cover and put the battery-pack onto the chassis. Then
plug the battery-pack plug into “BAT” connector in the cabin.
2.2.3 Switch power on
Main switch is on the back side of top cover, see Page 2. After turn on it,
then push the ON/OFF button, the operating status LED will be Blue slow
flashing(2HZ)
If the power LED is not lighting after main switch closed, please check the
battery voltage is good or not. For some reason, when you found the battery
voltage is <= 20V, please plug in the portable battery charger and charge the
battery at least 3 hours, then try again. The portable charging port and auto
charging dock terminals are all on the rear cover of robot
2.2.4 Connect the robot into your field Wi-Fi.
See page-2, use screw driver to remove the cover of VGA&USB connector
port，insert keyboard/mouse and VGA monitor, then power on robot and chose
your Wi-Fi SSID and set password, let robot computer connect into your net
system. We suggest you should give this robot a fixed IP address (do it from
your LAN router)
Caution: when you want to run robot, please firstly unplug any cables
which is connected with your desktop device (such as VGA monitor).

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2.2.5 Install a joystick driver when necessary. (Optional part).
If you want to drive your robot from joystick (for example, when you run
gmapping function), please insert the joystick receiver USB part into the robot
computer USB port.
Please note, it your joystick is not the ROS official website recommended
model, please install the joystick ROS driver package firstly.
§2.3 YZ-02 ROS demo instruction:
2.3.1 Do gmapping SLAM to generate a map of your office:
1）Preparing work:
Your desktop PC is ready: Please make sure your desktop or laptop PC
was installed ROS KINETIC. Otherwise, please install ROS on your PC
firstly. Then copy the rbx1_nav source folder from robot PC to your
desktop PC ROS work space src folder, and then on your desktop PC run
catkin_make command to compile this rbx1_nav package;
YDLIDAR is connected;
Joystick is connected;
2）Run gmapping command on your robot PC.
Use SSH command to open a SSH terminal from your desktop PC to
remote login robot PC, and then launch the gmapping command:
$ roslaunch rbx1_nav gmapping_demo_yz.launch
You can look over the gmapping_demo_yz.launch file and learn more
details about this launch command.
3）Run RVIZ on your desktop PC ternimal
Due the running robot has not a monitor and SSH can not provide
graphical remote login, so we need run RVIZ on your desktop PC instead.
Before run RVIZ, please let your desktop PC’s ROS MASTER redirect to
robot PC ROS core:
$ export ROS_MASTER_URI=http://robot IP:11311
$ rosrun rviz rviz -d `rospack find rbx1_nav`/gmapping.rviz
If everything OK, you can see some map pixel on the screen.
4) Drive robot moving and save map data on your robot PC
Use joystick to drive robot slowly walking around your office, until all
roads are covered. Then stop robot.
Use SSH to remote login robot PC from your desktop PC, then
$ rospackcd rbx1_nav/maps
$ rosrun map_server map_saver -f my_map
“my_map”the name of this new map. You can find this new map
files in rbx1_nav/maps folder.

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2.3.2 Use standard move_base and amcl to run robot from where to where
1) I suppose you have just finished gmapping demo, and get a new map
named “my_map”.
2）Run move_base and amcl command on your robot PC.
Use SSH command to open a SSH terminal from your desktop PC to
remote login robot PC, and then launch the following command:
$ roslaunch rbx1_nav yz_demo_move.launch map:=my_map.yaml
You can look over the yz_demo_move.launch file and learn more details
about this launch command.
3）Run RVIZ on your desktop PC ternimal
Before run RVIZ, please let your desktop PC’s ROS MASTER redirect to
robot PC ROS core:
$ export ROS_MASTER_URI=http://robot IP:11311
$ rosrun rviz rviz -d `rospack find rbx1_nav`/nav_test.rviz
Use <2D Pose Estimate>to initial robot pose at beginning.
Use <2D Nav Goal> to assign a new target for robot to reach.

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§3 CAUTION
3.1 Pre charging: before running the robot for the first time, please
charge battery at least 3 hours. For the transportation reasons, the battery
before shipping only has very little electricity.
3.2 Charge temperature: pay special attention to charging at room
temperature of 0~30 degrees Celsius. High or too low ambient temperature
can damage the battery!
3.3External power interface: please connect the external battery and
output DCDC power strictly according to the pin position and polarity of
the power supply interface. The wrong wiring will damage the interface
board or other devices. Make sure that the maximum current used by the
device does not exceed the limited current value of the DCDC board.
3.4Troubleshooting: if the robot is in the use of abnormal function,
please try to turn off the power, and then restart, in general, the robot will
be restored to normal, if restarted, the robot can not be used normally,
please notify the technical service personnel for remote guidance.
3.4 Emergency issues:
When the robot walks abnormal, please press the red emergency switch!
When the robot or charger has smoke, please turn power immediately!
When the robot is in serious collision or fall accident, turn off the power!

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§4 ROSYZ-02 Datasheet
Move base size
860X600X380 mm
Move base weight
45KG(not including battery)
Move drive mode
two-wheel differential
Battery required
24V20AH VRLA battery-pack
Motor type
24V300W DC motors
ROS communication
RS232
DCDC provided
5V2A、12V2A、19V4A
Move speed
0.1-1.4m/s (5km/hour)
Maximum load weight
80KG
Externa charger
29.4V6A smart charger
Auto charging guide
Optional
Control Board
STM32F10X ARM chip
Emergency stop
Push RED button
Upper layer height
30CM
Hardware data provided
All electronic schematic drawings are provided
ROS diver provided
Provide ROS node binary file which can output each wheel’s ticks and
accept setting speed value
ROS demo
Provide a basic keyboard remote control moving demo application.
C++ source code of this demo is used.

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Appendix A: ROS Topics of YZ robot diver node
1. Firstly, launch robot diver node:
roslaunch stm32_connect start_basecontrol.launch
2. Topics of robot diver node
2.1. Topic name: “Auto_Charging”, function: to enable or disable auto-charging flag
Topic value: auto_charging_flag = 0: Disable = 1:Enable
【Example】：in a terminal , input following text:
rostopic pub /Auto_Charging robot_msgs/Charging_Control “auto_charging_flag:1”
Above instruction will let robot go to charging dock automatic
2.2.Topic name：”PMS_get_status”, check battery power level and status
Topic value: pms_charging_flag = 0: now not charging = 1: now charging
Pms_battary_level = n : means battery power level is n% remain
【Example】：in a terminal , input following text:
rostopic echo /PMS_get_status
Above instruction will display battery status and remain capacity level
2.3. Topic name：”Ultrasound_result”,check ultrasonic obstacle sensor trigger status
Topic value: cs_obs = 0：none obstacle =1：front obstacle
=16：rear obstacle =17：front and rear obstacles
【Example】：in a terminal , input following text:
rostopic echo /Ultrasound_result
Above instruction will display ultrasonic obstacle sensor status
2.4. Topic name：”Wheel_Switch” , check emergency switch status
Topic value: Switch = 0：Pushed(Enable) =1：Release(Disable)
【Example】：in a terminal , input following text:
rostopic echo /Wheel_Switch
Above instruction will display emergency switch status
2.5. Topic name：”cmd_vel”, check or set the linear/angular velocity
【Example】：in a terminal , input following text:
rostopic pub /cmd_vel geometry_msgs/Twist “linear：
x:0.3 y:0.0 z:0.0 angular: x:0.0 y:0.0 z:0.1”
This will let robot run at 0.3m/s linear and 0.1r/s angular velocity
2.6. Topic name：”odom”，check odometry data
【Example】：in a terminal , input following text:
rostopic echo /odom
Above instruction will display odometer data