mobi_robot
Modified from https://github.com/linorobot/linorobot.git
Mobi_robot is a suite of Open Source ROS compatible robots that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.
Tutorial
You can read the full tutorial how to build your robot here.
Multiplatform
Supports multiple types of robot base:
- 2WD
- 4WD
- Ackermann Steering
- Mecanum drive
Works on:
- ROS Indigo (Ubuntu 14.04)
- ROS Kinetic (Ubuntu 16.04)
Hardware
Fabricate your own Teensy 3.1/3.2 shield,
or wire it on your own. Wiring diagrams are also provided.
Supported IMUs:
- GY-85
- MPU6050 (to be released)
Supported Motor Drivers:
- L298
- BTS7960
**This should easily work with other motor drivers as long as the pins are compatible.
Supported ROS Compatible Sensors:
- XV11 Lidar
- RPLidar
- Intel RealSense R200
- Kinect
Tested on Linux compatible ARM dev boards:
- Raspberry Pi 3
- Jetson TK1
- Jetson TX1
- Odroid XU4
- Radxa Rock Pro
**Technically this should also work with any ARM dev board at least (1GB RAM) that runs Ubuntu Trusty or Xenial.
Installation
git clone https://github.com/linorobot/lino_install && cd lino_install
./install
Firmware
Flexible and configurable components. linorobot_ws/teensy/firmware/lib/config/mobi_base_config.h
Robot base configuration:
//uncomment the base you're building
#define LINO_BASE DIFF_2WD
// #define LINO_BASE DIFF_4WD
// #define LINO_BASE ACKERMANN
// #define LINO_BASE HOLO_4W
