Hi ROS Community,
I started a year and half ago building a ROS enabled tiny robot that costs a quarter of other equivalent robots and that has all the goodies for mobile robotics research right here on my desk.
Besides the usual interruptions and a ton of lessons learnt with low cost hardware, I’m proud to share my results with you, Trinibot V2.0!
Here’s what she has:
- Quad core RPi3 running ROS Kinetic on Ubuntu Mate 16.04
- Softkinetic DS525 Time of Flight - 0.15 to 1m @ 320x240 with a 720p RGB camera
- Filtered IMU and magnetometer
- Temperature and humidity sensors.
- In-built 3.6Ah 12V rechargeable battery
- WiFi and Bluetooth
- Additional USB port and DC 5V socket for peripherals
- 8 channel 12 bit ADC for analog sensors
- A joystick for some interaction
- A 8x8 RGB panel to generate markers and bitmaps
- Differential wheel rate control from 1 to 10cm/sec and 0.2 to 1.57 deg/sec with odometry
- Two additional motors (open-loop) for a robot arm or other actuation
- Can be ported to other robot differential wheel chassis with DC servos upto 12V 1A.
- Develop and test while charging!
ROS functionality (so far)
- Full TF tree
- Sensor messages
- EKF localization
She runs for about 2 hrs with stops and constant sensor streams over wifi. I still need to redefine the covariances for the various sensors (and a lot of other tests of the entire stack).
The next steps are:
Keen to hear thoughts, questions and critique that will make Trinibot awesome and community friendly!