ROSbot 2R - replaced by ROSbot 3

ROSbot 2R - replaced by ROSbot 3

ROSbot 2R - replaced by ROSbot 3

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.

Husarion

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+48 504 764 008
info@robosklep.com

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Husarion ROSbot 2R

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.

Features

  • CPU: Broadcom BCM2711 64-bit, Quad-Core ARM Cortex-A72, 1.5 GHz (ARM64, Raspberry Pi 4)
  • GPU: Broadcom VideoCore VI
  • RAM: 4GB LPDDR4
  • RGBD camera: Orbbec Astra (optional)
  • LIDAR: Slamtec RPLIDAR A2 laser scanner (optional)
  • IMU: BNO055 (accelerometer + gyro)
  • Distance sensor: VL53L0X (time-of-flight) 
  • 4-wheel mobile platform with DC motors and encoders
  • Li-on batteries: 3 x 3500 mAh (with protection circuits)
  • Rear panel providing interfaces for additional modules
  • Robust aluminium chassis 
  • Durable case for convenient storage and carrying

Videos

ROSbot 2R | Unboxing & quickstart guide

ROSbot 2R simulation in Webots running SLAM Toolbox

Specification

AttributeDescription
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

ROSbot 2R components



Components description

ComponentQuantityDescription
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


Block diagram

Graphic representation of ROSbot 2R components and connections between them.

 

Rear panel description

ComponentQuantityDescription
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

Husarion ROSbot 2R mobile platform resources