The goal of this project, conducted at the Center for Automation and Robotics (CAR), is to update the differential robot Pioneer 3-AT to ROS2. The robot was previously running on ROS1. This update involves using a Raspberry Pi 5 and an ESP32, which communicate with each other using microRos.
- 3d_files: contains the 3D models used in the project.
- docs: documentation related to the project.
- legacy: contains older versions and historical files.
- main: main codebase and core functionalities.
- projects: specific projects or experiments related to the robot.
- pcb_design: contains the design files for the PCB. See
pcb_design/README.mdfor more details.
-
Follow the instructions in
pcb_design/README.mdfor PCB manufacturing and assembly. -
Program the ESP32 using the files in the
mainfolder. -
Access the Raspberry Pi via SSH:
ssh robcib@192.168.2.120
-
Launch the ROS2 bringup:
ros2 launch lynxmotion_care robot_bringup.launch.py
- Battery: LiPo 6S 20000 mAh.
- Dual VNH5019 Motor Driver Shield: refer to
docs/dual_vnh5019_motor_driver_shield.pdffor specifications - ESP32: Node MCU-32S, powered via USB, handles low-level motor control.
- Motors: 4 DC motors, paired 2 by 2 with a belt. Each side has one motor with encoders (500 ticks), a 38.3:1 gearbox, and a 1.3:1 pulley reduction
- Raspberry Pi 5B: acts as the onboard computer.
- Voltage Regulator: 24V to 12V for motor power, 5V for Raspberry Pi power.
For detailed connection diagrams, refer to the schematic in pcb_design/RedLeaderSchematic.pdf.
