Related Manuals for YZ Robot ROSYZ-01B
Summary of Contents for YZ Robot ROSYZ-01B
- Page 1 深圳市璞数技术有限公司 ROSYZ-01B Robot Platform USER MANUAL Rev: 2.0(Dec 2019) SHENZHEN YZ ROBOT CO. LTD PAGE 1 OF 16...
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Page 2: Brief Introduction
§1 Brief Introduction ROSYZ-01B Basic Information §1.1 ROSYZ-01B robot platform is a two wheel differential and large load robot motion chassis platform based on ROS architecture. It is very suitable for college students some enterprise R & D engineers. The chassis platform is an integrated hub motor with high efficiency and high load. - Page 3 深圳市璞数技术有限公司 Emergency Stop Hidden I/O cover VGA & USB port Portable charger port Auto charger port Ultrasonic sensors LED status indictors: Power status: RED for POWER ON Operating status: RED solid: Charging now GREEN flashing: normal working RED flashing: low battery PAGE 3 OF 16...
- Page 4 深圳市璞数技术有限公司 §1.3 ROSYZ-01B Control Board connectors definition CON13/ 29 / 32 / 12 / 21 / 11 /10 / 20 / 15 / 18 / 17 / 8 / 9 / 14 / 25 / 35 CON1 CON19 CON16 PAGE 4 OF 16...
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Page 5: Connectors Definition
深圳市璞数技术有限公司 Connectors Definition: Power ports CON13 Battery input(24V) CON29 Battery input (24V) CON32 Charger input CON12 Charger input CON21 Power switch CON10 Battery output (24V) CON11 battery output (24V) CON20 Emergency stop switch CON15 Motor power output CON18 +19V output CON17 +12V output CON8 +12V output... - Page 6 深圳市璞数技术有限公司 JP6: GND JP8: VCC JP7: PF7: power on signal PF8:NA PF9,PF10: Auto charging guide signal PE0,PE1: NA PA4,PA5:NA PWM1,PWM2: NA PWM3:NA PWM4:NA PAGE 6 OF 16...
- Page 7 深圳市璞数技术有限公司 §1.4 Auto Charging dock (Optional part) ROSYZ-01B Auto charging dock profile Charging LED Power LED RED: charging Charging RED: power on Green: full guide sensor Off: Idle Mounting holes AC power input port Charging Output pins Installation guide：Please put this charging dock against a flat wall, make sure the front of charging dock is empty enough (>...
- Page 8 深圳市璞数技术有限公司 §1.5 Software installed on the robot computer ROSYZ-01B has Intel i5 CPU personal computer and pre-installed following items： 1. LINUX ：UBUNTU 16.04, user name: robot; password: 1 ：KINETIC FULL-DESK 2. ROS basic 3. ROS application packages(under “ws” folder) : 3.1 STM32_CONNECT （platform drivers and communication）...
- Page 9 深圳市璞数技术有限公司 §1.7 ROSYZ-01B default packing list(not include optional parts) Item unit Remark Main platform No battery and decks User decks Support pole Battery Charger P/N: L200CM-24F8 AC power cord Europe type plug M4 Screw Screwdriver For M4 M6 screw DCDC cable...
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Page 10: How To Use
§2.2 Using step by step 2.2.1 Check the completeness of the accessories： Open the packing cartons of the robot, take out the ROSYZ-01B robot movement chassis and all parts, and check the packing list, check whether there are leakage and wrong loading. - Page 11 深圳市璞数技术有限公司 2.2.5 Install a joystick driver when necessary. (Optional part). If you want to drive your robot from joystick (for example, when you run gmapping function), please insert the joystick receiver USB part into the robot computer USB port. Please note, it your joystick is not the ROS official website recommended model, please install the joystick ROS driver package firstly.
- Page 12 深圳市璞数技术有限公司 2.3.2 Use standard move_base and amcl to run robot from where to where 1) I suppose you have just finished gmapping demo, and get a new map named “my_map”. 2）Run move_base and amcl command on your robot PC. Use SSH command to open a SSH terminal from your desktop PC to remote login robot PC, and then launch the following command: $ roslaunch rbx1_nav yz_demo_move.launch map:=my_map.yaml You can look over the yz_demo_move.launch file and learn more details...
- Page 13 深圳市璞数技术有限公司 §3 CAUTION 3.1 Pre charging: before running the robot for the first time, please charge battery at least 3 hours. For the transportation reasons, the battery before shipping only has very little electricity. Charge temperature: pay special attention to charging at room temperature of 0~30 degrees Celsius.
- Page 14 深圳市璞数技术有限公司 §4 ROSYZ-01B Datasheet Move base size 45X40X37 cm Move base weight 22KG(not including battery) Move drive mode two-wheel differential Battery required 24V14AH LiFePO4 battery-pack Motor type 24V wheel-hub motors CPU: Intel® Core™ i5-3470T processor RAM: 4G Storage Disk: 500G Inside Computer features I/O : USB2.0*4, VGA, Microphone/headset port, DP, RS232...
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Page 15: Appendix A: Ros Topics Of Yz Robot Diver Node
深圳市璞数技术有限公司 Appendix A: ROS Topics of YZ robot diver node 1. Firstly, launch robot diver node: roslaunch stm32_connect start_basecontrol.launch 2. Topics of robot diver node 2.1. Topic name: “Auto_Charging”, function: to enable or disable auto-charging flag Topic value: auto_charging_flag = 0: Disable = 1:Enable 【Example】... - Page 16 深圳市璞数技术有限公司 PAGE 16 OF 16...