instructables

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller

by radeknh2

ROSbot is an open source, mobile robot platform containing:

Digital camera
Laser scanner 360 RPLiDAR A2
Solid aluminum cover
Wi-Fi antenna
Orientation sensor (MPU-9250)
2x left & 2x right DC motors with quadrature encoder
Husarion CORE2-ROS (with ASUS Tinker Board inside)

It's pretty large project but even if you can't do everything, you can choose which features you want to implement.
The project has been created by Husarion team: https://husarion.com/

In case of any question please ask in comments :)

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 1
Step 1: Prepare (order?) the Aluminium Chassis

The chassis is laser-cutted from the 2mm thick aluminium plate. We designed it in CAD software and outsourced
to a laser-cutting workshop. They have also offered painting, so we've eventually made two versions. The attached
drawings are suitable to be the source files for laser-cutting company but don't forget about units - all dimensions
are in milimeters.

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ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 2
Step 2: Assemble the Chassis With M3x6 Screws and Nuts

Step 3: Then Attach the Motors With Encoders and Screw Them Using M3x6 Screws

We used motors similar to these "34:1 Metal - stall current max. ~2A
Gearmotor 25Dx52L mm LP 6V" from Pololu:
https://www.pololu.com/product/1584 but the general - the same dimensions (diameter, length and
requirements are: mounting holes) as Pololu 25Dx52L motors

- RPM between 80...200 @6V Caution: longer screws can damage or block the
motors
- voltage from 6V to 12V

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 3
Step 4: Assemble the Two Other Motors to the Right Plate

Step 5: Attach the Right Plate to the Bottom Cover With M3x6 Screws

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 4
Step 6: Attach the Battery Pack for 3x 18650 Li-Ion Batteries and Insert the Batteries

ROSbot is supplied from 3 pieces of 18650 Li-Ion worry about that :)

cells. I recommend using batteries with protection
circuit and charging them with dedicated charger.
Please avoid very cheap batteries and chargers - the
damage of Li-Ion batteries can be dangerous. It's
about your safety. The power source is important and
needs to be reliable. All you need is to use good
batteries and charger with protection and then don't
P.S. In the newer version of ROSbot we updated this
and we used a battery pack with an additional
connector for balancer. In that way we can charge
batteries through a 4-wire cable, without opening the
robot. I will describe that later.

Step 7: Screw the Standoffs for Sensors and Install the Sensors

The more external standoff is 8mm long and the one that is closer to the center is 10mm long, because there is
only one layer of metal.

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 5
Step 8: Screw the Standoffs and Install Husarion CORE2-ROS Controller

Use four female-female, threaded standoffs, M3x50 size (metric 3mm thread, 50mm long). Use M3x6 screws to
assemble with bottom cover and to install the Husarion CORE2-ROS controller.

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 6
Step 9: Install a Camera and LiDAR

We used the USB camera that we've had in the drawer :) and the RPLIDAR A2 360 degrees Laser Scanner.
Screw them using M3x6 screws and nuts (for the camera only).

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 7
Step 10: Attach the Wheels Using Hex Couplers

We used the "wheels for robot toys" with brass couplers that are compatible with 4mm diameter, D-shaped motor
shafts. The wheels have the 85mm diameter.

Step 11: Prepare the Cables

You need some cables:
4x cable that connects Sharp sensor with CORE2-
ROS (see the next step)
1x cable that connects MPU-9250 sensor with
CORE2-ROS (see two steps further)
1x cable for battery pack <-> CORE2 connection
(with switch) - it's simple :)
1x generic USB extension cord for a Wi-Fi card (it
needs to be installed outside the metal box)
The motors, LiDAR and camera have their own
cables.
The connections diagram is shown on the attached
photo.

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 8
Step 12: Prepare the Cables for Sharp Sensors

We used Sharp GP2Y0A41SK0F sensors.

See the photos and make 4 cables. Pinout is also included on the photo.

Step 13: Prepare the Cable for MPU-9250 Module

Pinout is attached and cable similar to the previous one. This time you don't need the IDC connector.

Step 14: Assembling Hardware Is Finished

This is how it looked in our case :)

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 9
Step 15: Using the ROSbot

The ROSbot can be used in two ways: - as a platform for learning ROS - in that case please
look at this: https://husarion.com/core2/tutorials/ros-
- as a remote controlled platform, programmed from tutorials..
cloud, without using ROS (Robot Operating System)
and in that case please follow the guide from here:
https://husarion.com/core2/tutorials/howtostart/ru...

Step 16: The Final Effect

This is a short demo how the ROSbot can be used at the workshop or for personal purposes:

Have fun!

https://player.vimeo.com/video/224989128

ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 10