A Open-hardware micro-robot for ROS2 that can be assembled without soldering, or access to a 3D printer. Built from modular components on the Open Robotic Platform rules

Using affordable components available worldwide. For hobbyists, universities, R&D.

BOM

~$62 for base 4wd can be reduced, by using existing powerbank for example.

Components latest v0.7 version Description Quantity
~$12 Rosmo Chassis v0.7 with on-board motor driver Custom PCB Chassis for sale soon 1
~$32 Motor with encoder & wheel 6v 150RPM $Bringsmart motors 4
~$6 motor cables 6Pin same direction cables 4
~$6 - $12 ESP32-S3-C1 Olimex open hardware, UK US or generic version 1
~$7 1x 2A powerbank Powerbank 1
~$5 Hex Spacers 45mm height M3 standoff 1

List of these items on Aliexpress

Optional extras

Microblocks Software - Best if you’re just starting

Current status: Working but you have to build in Platformio to get ESP32-S3 support

Use the Pilot version from the bottom of the downloads page. Then to quickly get started download this raw UBP file and open it in the Microblocks app.

ROS 2 software - Best if you want to learn ROS2

Current status: I2C comms with Zio driver established and wheel spinning, but not working fully yet

  • Linorobot2 Zio driver now supported.
  • Virtual machine for download Ubuntu 22.04 with ROS2/Linorobot. For use with Virtualbox
  • On a Linux host; sudo adduser $YOUR-USER vboxusers then follow this guide reboot your computer
  • cd /linorobot2_hardware/config/custom
  • nano esp32s3_wifi_config.h put in your wifi credentials near the bottom of the file, set the agent IP to the address of your computer
  • cd /linorobot2_hardware/firmware
  • pio run -e esp32s3_wifi -t upload
  • ros2 launch linorobot2_bringup bringup.launch.py micro_ros_transport:=udp4 micro_ros_port:=8888

Notes on Virtualbox

  • git clone –branch esp32s3-lipo-zio https://github.com/hippo5329/linorobot2_hardware.git

Openbot software (Android) - Best if you want to explore affordable vision

Micropython software

Doesn’t exist yet, might be interesting to do something with Otto Mecanum

Arduino software

Doesn’t exist yet, might be interesting to do something with Smartcar Shield at some point

## Configurations

  • 2WD

  • 4WD/ Mecanum

Alternate IMU

Older iterations

Components for older v0.6 version Description Quantity
~$8 Rosmo Chassis Custom PCB Chassis get fabricated at JLPCB, or solder your own 5
Motor Driver Zio H-bridge Motor Driver 1
Optional IMU MPU6500 or BNO085 2
USB powerbank battery case 1x or 2x 18650 battery or open hardware 18650 battery 1
USB > Motor driver cable JST cable 1
M2 Bolts & nuts 400pc Bolt pack 1
Screw Driver 2 in 1 Flat and Philips Head Screw Driver 1
JST zh 1.5mm, 80mm ) Double headed 6pin cable 1 pack
Qwiic> Qwiic cable For connecting ESP32 1

If you don’t get JLPCB to fabricate the PCB you’ll also need some 2.54mm screw terminals or a breadboard For connecting encoder

Note a previous iteration of this project used the Pi Pico dimensions, if you wanted that the PCB is here

Parts for v0.6 excluding PCB and motor driver are available on this List ensure you get correct quantities, eg 4x wheels and motors.

Top plate removed to expose battery layer Battery layer removed to expose motor controller, microcontroller, exposed motor/encoder connections. Mikrobus click footprint Not shown are screw terminals as I haven’t soldered them yet.