Pioneer Robot Project

Description

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.

Project Structure

• 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.md for more details.

Usage

1. Follow the instructions in pcb_design/README.md for PCB manufacturing and assembly.

2. Program the ESP32 using the files in the main folder.

3. Access the Raspberry Pi via SSH:

   ssh robcib@192.168.2.120

4. Launch the ROS2 bringup:

   ros2 launch lynxmotion_care robot_bringup.launch.py

Components

Main Components

• Battery: LiPo 6S 20000 mAh.
• Dual VNH5019 Motor Driver Shield: refer to docs/dual_vnh5019_motor_driver_shield.pdf for 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.

Power Connection Diagram

For detailed connection diagrams, refer to the schematic in pcb_design/RedLeaderSchematic.pdf.