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Linorobot - 2WD, 4WD, Mecanum and Ackermann Steering ROS platforms

Hi guys,

Just like to share my project I started almost a year ago. It’s a suite of various ROS compatible platforms mainly 2WD, 4WD, Mecanum Drive and Car-Like robots.

I have posted a tutorial on how to build each platform at http://linorobot.org . Since it’s supposed to be homebrew, most of the parts are easily accessible and comparatively cheap. The controller’s using a Teensy 3.2 board and uses a Radxa Rock Pro as its main computer. It’s also got a XV-11 Lidar for mapping and localization so users can have an end-to-end learning experience with ROS. I tried to make the design as modular and scalable as possible so it can be used for much bigger robots as well (hopefully).

Please feel free to criticise, suggest or ping me for interested collaborators or mentors. :stuck_out_tongue:

Thank you.

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Wow, your project documentation is fantastic! Thanks for taking all the time to write it up so nicely. Congrats on getting all that working; it’s great to see a full system end-to-end from firmware all the way up to map-building.

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Happy to contribute something :blush:

This is amazing. I am going to try to make some of these and check them out.

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Love it! Hope to have time for making my own :smile:

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I’m planning to support more motor drivers that has higher rating ie BTS7960 (43A) http://www.hotmcu.com/large-current-motor-driver-module-bts7960-43a-p-266.html .

As well as support for Kinect for more sensor options.

Will keep you guys posted!

Happy Building! :slight_smile:

You have done so much work.

I have been recently developing a similar robot - the LoCoRo (low cost robot) project. I am using a Raspberry Pi 3 as the computer (others could be substituted). Similar to your Linorobot, the foundation is PWM motor drive and motor controllers. (The use of ESCs allow for high current motors). It too supports 2WD (akerman and differential drive) and 4WD (differential and Mecanum drive). (The mecanum drive currently used 3D printed wheels which I plan to open source soon). I am only at the teleop phase of development. I will read about your work to help with ideas for developing autonomous capabilities.

I choose the RPi for its ubiquity and with the expectation it will have more than enough CPU to handle computer vision (which I am learning is suboptimal). I only recently started to consider other proximity sensors for mapping.

Thank you for sharing all that you have done.

Hi guys, I’ve released beta v1.0 of this project. I did a major revamp to support more motor drivers, IMUs and LIDARs in the future.

Due to maintainability issues I’ve also merged all the supported bases (2WD, 4WD, Mecanum drive, and Ackermann steering) into one repo .

You can check out the release notes here: https://github.com/linorobot/linorobot/releases/tag/v1.0-beta
and the new wiki here: https://github.com/linorobot/linorobot/wiki

Do join our small forum if you need help :stuck_out_tongue: https://groups.google.com/forum/#!forum/linorobot

Cheers!