YZ Robot ROSYZ-03 User manual

深圳市芸众科技有限公司
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ROSYZ-03 Robot Platform
USER MANUAL
Rev: 1.0(JULY 2019)
SHENZHEN YZ ROBOT CO. LTD

深圳市芸众科技有限公司
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§1 Brief Introduction
§1.1ROSYZ-03 Basic Information
ROSYZ-03 robot platform is a two wheel differential low cost version robot
motion chassis platform based on ROS architecture. It is very suitable for college
students and ROS fans.
The chassis platform is an DC-gear motors with high efficiency and light load. The
platform can load up to 5KG, and the maximum walking speed can reach 0.7 meters per
second. ROSYZ-03’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-03 ROS platform has built-in Raspberry-Pi-3B computer inside, installed
Ubuntu-Mate 16.04 O/S and ROS Kinetic packages. As optional parts, we provide
ultrasonic wave sensors which can provide basic obstacle avoidance.
At the same time, like other ROS platform robots, ROSYZ-03 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-03
Support pole
Free wheel
Li-Ion battery
User deck
Wheel & motor
On/off switch
panel
Ultrasonic unit
(Optional part)
LIDAR
(Optional part)
Raspi-3B
Main board

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§1.3 Main 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 Software installed on the robot computer
ROSYZ-03 has Raspberry-Pi-3B computer and pre-installed following items：
1. LINUX ：UBUNTUMATE 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 （YZ03 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）
§1.5 ROSYZ-03 Sensors installed:
ROSYZ-03 pre-installed sensors list (include optional parts)
1. Ultrasonic wave module: (Optional part, required by user)
2. LIDAR (Optional part, required by user)
3. IMU module (Optional part, required by user)
4. Wireless keyboard and mouse (Optional part, required by user)
5. Wireless joystick (Optional part, required by user)

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§1.6 ROSYZ-03 default packing list(not include optional parts)
Item
qty
unit
Remark
Main chassis
1
pc
Aluminum
Motors
2
pcs
24V 30W max
Driving wheel
2
pcs
Free wheel
1
pc
User decks
3
pcs
plastic
Support pole
16
pc
Battery pack
1
pc
Li-Ion 14.4V6Ah
Battery Charger
1
pc
G60-12L4
AC power cord
1
pc
Europe type plug
Main board
1
pc
STM32 & DCDC
Raspberry-Pi-3B
1
pc
With 16GB TF card
M4 Screw
6
pc
Screwdriver
1
pc
For M4 screw above
screws
1
set
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-03 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-03 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
Firstly, you need assemble all the parts according to attached drawing in
the package you received. Then do the following
2.2.3 Switch power on
Main switch is on the back side, see Page 2. After turn on it, the power
LED will be RED solid, the operating status LED will be flashing GREEN.
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 <= 12V, 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.
Insert keyboard/mouse and HDMI monitor with Raspberry-Pi3B computer,
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 HDMI 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-01 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-03 Datasheet
Move base size
360X320X260 mm
Move base weight
4KG(including battery)
Move drive mode
two-wheel differential
Battery required
14.4V6AH Li-Ion battery-pack
Motor type
24V30W DC motors
ROS communication
RS232
DCDC provided
5V2A、12V2A、19V4A、24V2A
Move speed
0.1-0.6 m/s
Maximum load weight
5KG
Externa charger
16.8V2.8A smart charger
Control Board
STM32F10X ARM chip
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.