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
- LiDAR module, USB Cable and Data Convertor Box (ROS2)
- Loader attachment (closed hardware) Grabber attachment
- Mecanum wheels (48mm)
- MikroBUS, UEXT or Breakout Garden sensors
- 10mm Cube standoff
- TOF Adafruit or Sparkfun
- OLED/Eyes - Zio
- Line finder - ZIO
- Ultrasonic - ZIO
- Servo - Zio for mini arm
- LED - Zio
- On-board compute. Beagleboard Play
Microblocks Software - Best if you’re just starting
Current status: Working but you have to build in Platformio to get ESP32-S3 support
-
Provides a block programing interface
-
Provides an Android app for remote control & detailed instructions
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
- Android app and Arduino for computer vision & AI
- https://www.openbot.org
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
- BMI270 6DOF Micropthon Arduino
- IMU - LSM6DSOX Micropthon Arduino
- LSM6DSV16X 6DOF no Micropthon Arduino
- ISM330DHCX 6DOF A ISM330DHCX 6DOF B Micropthon Arduino
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.