Related Manuals for YZ Robot ROSYZ-02
Summary of Contents for YZ Robot ROSYZ-02
- Page 1 深圳市璞数技术有限公司 ROSYZ-02 Robot Platform USER MANUAL Rev: 2.0(Dec 2019) SHENZHEN YZ ROBOT CO. LTD PAGE 1 OF 14...
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Page 2: Brief Introduction
§1 Brief Introduction ROSYZ-02 Basic Information §1.1 ROSYZ-02 robot platform is a four wheels differential heavy load robot motion chassis platform based on ROS architecture. It is designed for college outdoor applications. The platform can load up to 80KG, and the maximum walking speed can reach 1.0 meters per second. - Page 3 Blue breathing Charging §1.3 ROSYZ-02 Control Board connectors definition CON13/ 29 / 32 / 12 / 21 / 11 /10 / 20 / 15 / 18 / 17 / 8 / 9 / 14 / 25 / 35 CON1 CON19 CON16...
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Page 4: 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 5 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 5 OF 14...
- Page 6 深圳市璞数技术有限公司 §1.4 Auto Charging dock (Optional part) ROSYZ-02 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 7 深圳市璞数技术有限公司 §1.5 Software installed on the robot computer ROSYZ-02 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 8 深圳市璞数技术有限公司 §1.7 ROSYZ-02 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 screw above DCDC cable...
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Page 9: 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-02 robot movement chassis and all parts, and check the packing list, check whether there are leakage and wrong loading. - Page 10 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 11 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 12 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 13 深圳市璞数技术有限公司 §4 ROSYZ-02 Datasheet Move base size 860X600X380 mm Move base weight 45KG(not including battery) Move drive mode two-wheel differential Battery required 24V20AH VRLA battery-pack 24V300W DC motors Motor type ROS communication RS232 DCDC provided 5V2A、12V2A、19V4A Move speed 0.1-1.4 m/s (5km/hour)
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Page 14: 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】...
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