Unboxing and review--ROSMASTER R2 Ackermann structure Robot

ROSMASTER R2 is a mobile car with Ackerman steering structure developed based on ROS robot operating system. It supports Jetson NANO, TX2 NX, Jetson Xavier NX and Raspberry Pi 4B as main control boards. R2 is equipped with high-performance hardware configurations such as laser radar, depth camera, voice interaction module, 520 motor racing rubber tire, which can realize robot mapping navigation, obstacle avoidance, automatic driving, human feature action recognition, voice interaction control and other functions. It also supports mobile phone APP, wireless handle, ROS operating system, computer keyboard and other remote control methods. And we will provide 105 lesson teaching videos and many source codes for users' reference.

Packing List

Ackerman steering chassis*1

520 gear motor 550RPM *2

Lidar fixing plate *1

Light bar fixing plate *1

Camera fixing plate *1

Racing rubber wheels *4

White glue light guide *1

Screwdriver *1

Parts package *3

ROScar expansion board*1

USB HUB expansion board *1

OLED screen board *1

LED light bar *1

600OMAH 12.6V power battery and battery charger *1

Game handle and handle phone holder *1

7-inch screen and fixing bracket (optional) *1

Network card antenna(only for Jetson version)

RGB cooling HAT(only for Raspberry Pi version)

Several cables

Data cable*1

Astra Pro depth camera and fixing bracket *1

SLAM A1M8 lidar (Optional) *1

YDLIDAR 4ROS lidar (Optional) *1

Voice interaction module and speaker (Optional) *1

Several connection line

There are 4 option for choice

Raspberry Pi 4B version:

Raspberry Pi 4B 4GB board (optional)

64GB TF card (with robot system) *1

Raspberry Pi board accessories package *1

Jetson Nano version:

Jetson Nano 4GB SUB board (optional)

64GB system U disk(with robot system) *1

Jetson Nano accessory package *1

TX2-NX version:

TX2-NX board (optional)

128GB SSD (with robot system) *1

TX2-NX accessories package *1

Xavier NX version:

Xavier NX 8GB SUB board (optional)

128GB SSD (with robot system) *1

Xavier NX accessory package *1

Top Hardware Configuration

One--SLAM A1&YDLIDAR 4ROS

SLAM A1M8 lidar adopts triangulation ranging measurement method, measuring radius is 0.15m~12m, sampling frequency is 8K, and it can easily realize indoor mapping and navigation functions in combination with ROS robot system.

Two-YDLIDAR 4ROS lidar

YDLIDAR 4ROS lidar adopts TOF ranging, which has a reliable anti Japanese capability. It supports indoor and outdoor mapping and navigation. The measuring radius supports ranging of 0.05m~30m. The measuring speed is fast and accurate.

Depth camera

AstraPro depth camera supports manual adjustment of pitch angle, which can not only realize all AI visual play methods of high-definition camera, but also realize advanced play methods such as depth image data processing, 3D navigation mapping, etc.

Support 4 kind of main control board

ROSMASTER R2 supports the main controllers of Raspberry Pi and Jetson series, and the use method is basically the same. Both of them use the ubuntu system. Different master controllers only affect the performance of ROSMASTER R2 robot. The course materials, product functions and control software provided by us are consistent.

Ackerman chassis

Ackerman steering is a modern vehicle steering mode. ROSMASTER R2 uses an aluminum alloy Ackerman chassis structure. When R2 robot turns, the inside and outside wheels turn at different angles. The turning radius of the inner tire is smaller than that of the outer tire.

Funny features and applications

Cross platform interconnection control

It not only supports iOS/Android dual system playing APP control, but also provides map building navigation APP to meet the requirements of multi scene APP control. It is equipped with a live person game controller as standard, and combined with the mobile phone APP, you can experience an immersive sense of control.

Lidar mapping and navigation

ROSMASTER R2 supports mapping algorithms such as gmapping, hector, karto, and cartographer.

Multi-robot navigation

Multiple robots can realize multi-robot navigation and dynamic obstacle avoidance under the same map.

Path planning and navigation

ROSMASTER R2 supports DWA path planning, single point and multi-point autonomous navigation.

Lidar navigation and obstacle avoidance

Lidar can detect the surrounding environment in real time, avoid obstacles in front or follow the nearest target to the lidar in real time.

3D visual mapping

The RTAB algorithm is used to fuse the vision and radar, realizing the robot 3D vision mapping and navigation obstacle avoidance, supporting global relocation and autonomous positioning.

ORB-SLAM2 is an open source SLAM framework that supports monocular, binocular, and RGB-D cameras. It can calculate the camera's position and pose in real time and simultaneously reconstruct the surrounding environment. Real scale information can be obtained in RGB-D mode.

Robot voice interactive control

ROSMASTER R2 is equipped with a high-performance voice interaction module. By sending voice commands, it can control the car's motion state, color tracking, color recognition, automatic driving, mechanical arm handling/sorting and other creative play methods. ROSMASTER has the characteristics of "hearing and answering".

Color identification and tracking

The robot can track the color of the target in real time by selecting the color on the screen.

KCF target tracking

The image based correlation KCF algorithm can select any object in the image and follow the target in real time.

Summary

Compared with several other ROSMASTER robots of Yahboom, the biggest advantage of this R2 small car is that it uses Ackerman chassis structure, 65mm metal wheel large friction rubber tires, and a faster speed 520 motor (12v output 550rpm), which can flexibly complete the turn and is suitable for some racing small car competitions. Like other ROS cars, it can also complete the AI visual recognition function and support a variety of different remote control methods, without much difference in functions.