ROSbot 2R is an affordable robot platform for rapid development of autonomous robots. It can be a base for custom service robots, inspection robots and robots working in swarms.
ROSbot 2R is an autonomous, open source robot platform based on Raspberry Pi 4 (ARM64). Reinforced with a development platform and free online resources such as set of tutorials, manuals, simulation model and more, it is a great choice for prototyping and learning how to program autonomous vehicles. ROS and ROS 2 system image options are available.
| Attribute | Description |
|---|---|
| Dimensions with camera and LiDAR | 200 x 235 x 220 mm / 7.87 x 9.25 x 8.66 in [L x W x H] |
| Dimensions without camera | 200 x 235 x 146 mm / 7.87 x 9.25 x 5.74 in [L x W x H] |
| Dimensions without camera and LiDAR | 200 x 235 x 106 mm / 7.87 x 9.25 x 4.17 in [L x W x H] |
| Weight | 2,84 kg / 100 oz (with camera and LiDAR), 2,45 kg / 86 oz (without camera and LiDAR) |
| Standard wheel diameter / Clearance / Wheelbase | 85 mm / 24.5 mm / 105 mm |
| Mecanum wheel diameter / Clearance / Wheelbase | 97 mm / 30.6 mm / 105 mm |
| Chassis material | Powder-coated aluminum plate, 1.5 mm thick |
| Maximum translational velocity | 1.0 m/s |
| Maximum rotational velocity | 420 deg/s (7.33 rad/s) |
| Maximum load capacity | Up to 5 kg / 176 oz - not in continuous work |
| Battery life | 1.5h - 5h |
| Component | Quantity | Description |
|---|---|---|
| Infrared distance sensor | 4 | VL53L0X Time-of-Flight distance sensor with up to 200 cm range, more details |
| Husarion CORE2 | 1 | Real-time controller based on STM32F407 microcontroller, more details |
| DC motor | 4 | Xinhe Motor XH-25D, Motor used: RF-370, 6VDC nominal, 5000rpm, no load speed at the output shaft: 165 rpm, stall torque: 2.9 kg*cm, stall current: 2.2A, gear ratio: ~34 (exact ratio is 30613/900), encoder: magnetic, 48ppr, 12 poles |
| RGBD camera | 1 | Orbbec Astra with RGB image size 640x480 and depth image size 640x480. |
| Batteries | 3 | Li-Ion 18650 protected, rechargeable batteries, 3500mAh capacity, 3.7V nominal voltage. Note: Device may be shipped interchangeably with similar batteries. |
| Antenna | 1 | Connected directly to the Wi-Fi module. Uses an RP-SMA(m) <-> I-PEX MHF4 cable to connect the antenna with SBC. |
| SBC | 1 | Raspberry Pi 4 with Broadcom BCM2711 (ARM64 architecture) quad-core ARM-8 Cortex-A72 1.5 GHz, 4GB RAM and 32 GB MicroSD.. The SBC runs on Ubuntu-based OS, customized to use ROS. |
| LIDAR | 1 | RpLidar A2, 360 degree and up to 12m range, more details |
| IMU Sensor | 1 | Intelligent 9-axis absolute orientation sensor BNO055, more details |
Graphic representation of ROSbot 2R components and connections between them.
| Component | Quantity | Description |
|---|---|---|
| Antenna connector | 1 | Wi-Fi antenna RP-SMA socket - required for Wi-Fi connectivity |
| USB | 2 | USB 2.0 host ports from SBC |
| HDMI | 1 | HDMI output from SBC |
| Power switch | 1 | Turns ROSbot completely ON or OFF |
| LEDs | 6 | LR1(blue), LR2(yellow), L1(red), L2(green), L3(green), PWR(red), more details here |
| Reset button | 1 | Button used for reset CORE2 |
| hBtn | 2 | hBtn1, hBtn2 - programmable buttons |
| Outputs for servo | 6 | Servo output with PWM, more details here |
| USB serial | 1 | USB serial port used for debugging the firmware on CORE2-ROS controller |
| Charging connector | 1 | 6-pin connector for charging internal Li-Ion batteries |
| DC power input | 1 | DC for working with external 12V power supply - use the power supply included with charger or any 12V, min. 5A power supply with 5.5/2.5mm plug (center-positive) |
| Time-of-Flight distance sensor | 2 | VL53L0X Time-of-Flight distance sensor with up to 200 cm range, more details here |
| hExt | 1 | 12xGPIO, 7x ADC, SPI, I2C, UART, more details here |
| hSens | 1 | 4 xGPIO, ADC, UART, more details here |
