ROBOWORKS HWZ020 Rosbot ROS Education Robot User Manual

Education Robot User Manual
we build human friendly robots for developer, educator and students

HWZ020 Robot ROS Education Robot

Codebtor for education

• Educational robots based on ROS.
• Ideal for educators and students.
• Affordable, compact and functional.

Product Family

Hardware Components

Chassis

• Robotic chassis ready for ROS development.
• Ready to plug slots for ROS controller, LiDAR and Camera.
• Remote controlled by mobile app.
• Driving systems:
• Ackerman wheels
• Meconium wheels
• Omni-directional wheels
• Track-based

SLAMTEC RPLIDAR Al Series
Equipped with new genuine Lidar

Based on our excellent and concise mechanical design, the lidar can be 360° unobstructed Make the robot have a better effect when following and navigating

The camera angle can be adjusted greatly

Whether it is patrolling, following, visual slam, etc., it can be adjusted to a suitable angle, and the camera is placed on the front of the car without obstruction

Hall encoder

The encoder has a pull-up output, which is pulled up to the power supply VCC pin by default, which can be directly collected by the single-chip microcomputer

Listing show

1. Black rubber wheels
2. ORBBEC Astra Series Depth Camera
3. PS2 wireless controller
4. RPLIDARA1
5. Steering gear + multi-function support
6. Remote control receiver
7. Turn to the horn floor
8. Radar adapter board
9. 12V30F MG513 motor
10. Ball head pull rod is long/short
11. 37 Motor bracket
12. Certain wire rods
13. The pillars
14. Steering plate + hex coupling + Angle press plate
15. Screw and nut package
16. STM32F407VET6 integrated master control board
17. Strap bag
18. Raspberry pie
19. 32G memory card card reader
20. Assemble the kit
21. Cross screwdriver
22. Aluminum alloy top plate
23. Aluminum alloy base plate
24. Omnidirectional wheel set module

Hardware inventory

ORBBEC Astra series depth camera parameter table

monocular RGB

Hardware Specs

ROS Controller Specs

ARM.Cortexe-A57 MP Core [email protected]
GPU| Broadcom Vida Core VI(32-bit)| 128-core Maxwell @921MHz| 256-core NVIDIA Maxwell’ GPU
RAM| 4GB| 4GB 64-bit LPDDR4 @
1600MHz 125.6 GB/s| 4GB 64-bit LPDDR4 Memory
USB port| 2USB3.0+2USB2.0| 4USB3.0| 1’USB3.0, lMicro USB
Video Input| MIPI CSI
Video Output| Micro-HDMI (2t)
4Kp60| 2HDMI 2.0 / DP 1.2 / esp.
1.212-MIPI DSI| l’HDM12.0
video Encoding| H.264(1080p30)| H.264/H.265(4Kp30)| H.264/H265(4Kp30)
video Decoding| H.264(1080p60)
H.265 (4Kp60)| H.264/H.265(4Kp60,24K
p30)| H.264/H265(4Kp60)
Storage| 32G MicroSD| 64G MicroSD-P.| 16GB eMMC 5.1
Network Interface| Gigabit Ethernet/Wifi802.11.ac| Gigabit Ethernet/M.2 Key
E| 10/100/1000 BASE-T Ethernet
GPIO Pinz| 40
Rated Power| 15W(5V/3A)| I 5W/101M1| 15W
Power Input| 5V| DC12-24V±10%

Product Family Specs

Drive
Structure| Switchable Acker man,
Anti-Ackerman,
Differential| 4WD with I
Suspends ion| 3 wheel
Omni.
directional| Track with
Suspension| 4WD with I Suspension
Wheels| Driving: 65mm Rubber
Driven: 60mm Metal| 75mm Aluminum Alloy Meconium| 60mm Metal Omni-
Directional| Aluminum Alloy
Track| 65mm Rubber
Steering
Gear| HWZ020
20KG High Torque
Digital Gearing| None| None| None| None
Size (mm)| 240.5’191.146| 270’222’187| 240’240’183| 270’270’160| 270’222’187
Weight| 1.8kg| 2.9kg| 2.18kg| 2.54kg| 2.68kg
Payload| 3kg| 6kg| 3kg| 4kg| 6kg
Max Speed| 1.2m/s| 1.4m/s| 0.84m/s| lm/s| 1.2m/s
Light Load
Battery Life| 5.5h| 4h| 5h| 5.5h| 4h
1kg Load
Battery Life| 4h| 2.5h| 3h| 4h| 2.5h
Motor| M0313 motor
Encoder| 300 Line AS mon Resolution Photoelectric Encoder
Control.| Mobile App. P52. CAN. Serial
STM32 .| STM32F407VET6
140AR| L013. SI4mtec MIO
ROS Control| Raspberry Pi 4GB Jetson Nano 4GB, Jetson TX1
Depth Canna| Astra RGBD Depth Camera
MU| IC M20948 (3 Axis in Gyroscope, Accelerometer, Magnetometer)
OS| Ferrets on STM32, Ubuntu 18.04, ROS Melodic
Materials| Developer Manuals, Video Tutorials, ROS & STM32 Source Codes, ROS Image

BATTERY DESCRIPTION

Due to overseas shipment issues, no batteries are prepared Please prepare 11.1V lithium battery by yourself

INTERFACE DESCRIPTION

CAN: The mobile platform can receive commands from the CAN port and send its own data (odometer and IMU) through the CAN port.
Serial port: The mobile platform can receive commands from the serial port, or send its own data (odometer and IMU) through the serial port.
USB interface: used to connect to a computer, download the program with one key, receive command control sent by the computer, and send its own data (odo meter and IMU) to the serial port.
Bluetooth (or WiFi): can send its own information to APP, can receive APP remote control commands, and can adjust PID parameters.
PS2 interface: Provide PS2 handle socket, provide code plug and play.
SWD interface: SWD interface is provided for online debugging.

Software & Tutorials

Key function introduction

RTABMAP VISION AND LIDAR MAPPING NAVIGATION
Support visual SLAM, gapping, hector, carto, Google Cartographer and other algorithms to build maps, support fixed-point navigation, multi-point navigation

LIDAR FOLLOW
Lidar can follow any object including people in all directions

DEPTH CAMERA FOLLOW
Through the RGBD depth camera, you can measure the distance to the front object and follow

VISUAL PATROL
The camera can be navigated by sticking lines, and the general electrical glue can be used. The color of the line patrol is blue, black, red, green, yellow, etc. adjustable

SUPPORT APP CONTROL, VIEW IMAGES, MAP CREATION, NAVIGATION
Realize car mapping and 2D navigation functions through Android ROSAPP

RRT AUTONOMOUS EXPLORATION AND MAPPING
No need to manually control the car, use the RRT algorithm to autonomously complete the exploration map, save the map, and return to the starting point
MULTI-AIRCRAFT FORMATION
Multi-machine coordinated operation, distributed formation control, support single-point and multi-point navigation functions

Provide Bluetooth & WIFI version APP
Support Android and IOS

1. Support gravity sensor remote control and two-hand button remote control mode
2. Supports 5-channel waveform display interface, you can view the waveform at any time without a data line
3. Support 9-channel parameter adjustment interface and online adjustment of PID parameters
4. Optimize the battery alarm mechanism, APP accurately pushes low-voltage alarm notifications
5. Support for BLE Bluetooth 4.0 module

Information Description

In addition to information related to Raspberry and jets on Nano, we also present information such as Xavier NX, industrial computer, etc., so that you can continue to update the functions and information of this product from scientific research to application. The updated information will be provided to users free of charge for life

THE DATAIS COMPLETELY OPEN SOURCE, SUPPORTING SECONDARY DEVELOPMENT

Provide ROS source code package
The ROS source code can quickly help you connect the car to the ROS system, and provide technical support for STM32, ROS, Linux, and SLAM

Provide a rich ROS development manual

1.ROS development tutorial
The Preface

1. Fix Raspberry Pi peripheral serial port number
2. SLAM car ROS source code analysis
3. File system preview
4. Code composition
5. Serial communication with the lower computer
6. ROS topics and sensor data release
7. Robot node analysis
8. Parameter analysis of robot
9.  Analysis of robot TF coordinate transformation
10. Start the robot through the launch file
11. Laser radar mapping
12. Start the mapping node
13. Map preservation
14. Robot navigation
15. Start the navigation node
16. wiz navigation goal setting
17. Multi-point navigation
18. Navigation parameter setting
19. Navigation status monitoring and custom goals
20. Common navigation fault troubleshooting

2.Ubuntu configuration tutorial
The Preface

1. Install Ubuntu and ROS on the virtual machine
2. Ubuntu Installation on the Virtual Machine and Utility Plug-in Installation
3. ROS installation with Ubuntu
4. Establish the ROS workspace
5. Configure static IP address with Ubuntu on the Virtual Machine
6. Configure Ubuntu and ROS on Raspberry Pi
7. Configure Ubuntu on Raspberry Pi
8. Install ROS on Ubuntu of Raspberry Pi
9. Environmental configuration of Jetson Nano
10. Configure Ubuntu in Jetson Nano
11. Install ROS in Jetson Nano
12. Configure Ubuntu and ROS In Jetson TX2
13. Flash the Jetson TX2
14. Install ROS on Jetson TX2
15. Configure Ubuntu and ROS on the IPC
16. Install Ubuntu on the IPC
17. Install ROS in IPC
18. Configure wireless WIFI and static IP with Ubuntu on IPC
19. Configure Ubuntu and ROS in Jetson Xavier NX
20. Install Ubuntu in Jetson Xavier NX
21. Install ROS in Jetson Xavier NX
22. Configure wireless WIFI and static IP with Ubuntu
23. Configure wireless WIFI with Ubuntu
24. Ubuntu configures static IP
25. The NFS mount
26. Execute the script at boot time
27. SSH remote login
28. ROS multi-machine communication setup
29. Raspberry Pi image backup and recovery
30. Raspberry Pi image backup
31. Raspberry Pi image recovery
32. Jetson Nano image backup and recovery
33. Jetson Nano image backup
34. Jetson Nano image recovery
35. Jetson TX2 Image backup and recovery
36. IPC Image backup and recovery
37.  Jetson Xavier NX image backup and recovery
38. The basics of Ubuntu

3.STM32 Moving Chassis Development Manual

The Preface

1. Robot control mode
2. Robot movement speed unit
3. ROS ( serial port 3) control
4. APP control
5. PS2 control
6. Hot-RC remote control
7. CAN control
8. Serial port 1 control
9. OLED display content
10. OLED specific content
11. OLED universal display content
12. car self-inspection
13. Elimination of gyroscope zero drift
14. Robot kinematics analysis
15. Two-wheel differential ( tracked vehicle ) car
16. Ackerman car
17. Meconium wheel card
18. Omni wheel car
19. Four-wheel drive car
20. Pl control program source code
21. Wiring instructions
22. Control flow chart
23. Control flowchart of robot motor
24. Robot STM32 program structure diagram
25. Robot controller connection diagram
26. Matters needing attention
27. About the code
28. About the power interface on the adapter board
29. About the motor
30. About the battery
31. How to download program to STM32 controller
32. Serial download
33. SWD download

Standard paper format, easy to understand, covering ROS basics, STM32 low- level control, ROS development, UBUNTU tutorials, etc.

Provide code-level video tutorials, senior engineers will teach you how to learn ROS, and refuse to bea “tuner” ROS related video tutorials are equipped with bilingual subtitles in both Chinese and English. We make the video tutorials according to the standards and investment of making movies.

moveit robotic arm video tutorial
Streamline code routines, rviz visual interface, take you into the learning world of moveout robotic arm

**** ROS SLAM principle and algorithm detailed video tutorial
This series of video tutorials explain the principles of SLAM in an easy-to- understand manner through the form of playing games while explaining the principles.

**** ROS basic dry goods special video tutorial
This series of videos will take about 1 hour for a single part. Knock on the code to teach you to quickly enter ROS.

**** STM32 bottom source code and ROS communication video tutorial
From the underlying STM32 code analysis to the ROS basic communication framework to build code-level analysis

**** ROS-related ubuntu basic tutorial
Quickly grasp the ubuntu basics related to ROS, and improve the backup and burning process of raspberry pi/jets on Nano, etc.

**** ROS function development code-level video tutorial
Code analysis of core functions such as ROS mapping and navigation

**** ROS Voice Special Video Tutorial
Provide basic application tutorials and code analysis combining ROS voice and iFlytek

More video tutorials are under intense recording and will be launched soon, So stay tuned!

Shipping & Packaging

Shipping list

CHASSIS PART

12V30F MG513 motor X2
Hexagonal coupling-6mm X2
Trolley aluminum alloy floor Xlpcs
Omni-directional wheel module Xlpcs
Black rubber wheels X4
Steering Claw Pressing Plate X2
Servo multi-function bracket Xlpcs
Trolley aluminum alloy upper plate X1pcs
Several standard parts and their connecting parts| servo Xl
Tie rod short X1
37 Motor bracket X2
Tie rod length X1
Rudder wheel X1
Steering claw assembly X2
Steering gear rocker arm X1
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ELECTRONIC CONTROL AND ROS PART
Electronic control part:
STM32F407VET6 integrated main control board Bluetooth module X1
OLED display X1
Data download line X1

ROS part:
Raspberry 4B X1
Lidar X1
32G high speed memory card and card reader X1
PS2 wireless controller X1
Dual fan heat sink X1
Several wires
Depth camera and its angle adjustment mechanism

PEARL COTTON PACKAGING

The following is the quality and volume of the packaged product:
Volume: 370300170mm
Weight: 3kg

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Documents / Resources

| ROBOWORKS HWZ020 Rosbot ROS Education Robot [pdf] User Manual
HWZ020 Rosbot ROS Education Robot, HWZ020, Rosbot ROS Education Robot, Education Robot
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