ROSMASTER R2 ROS2 Robot Programmable Car Instruction Manual

1. Introducció

The Yahboom ROSMASTER R2 is an advanced ROS2-based robot car featuring an Ackerman steering structure. It supports various main control boards including Jetson NANO, Orin NX SUPER, Orin NANO SUPER, and Raspberry Pi 5. Equipped with high-performance hardware like laser radar, depth camera, and a voice interaction module, the R2 excels in robot mapping navigation, obstacle avoidance, autonomous driving, human feature recognition, and voice control. It offers multiple remote control options including mobile app, wireless handle, and computer keyboard, and is programmable using Python. Comprehensive tutorials and source codes are provided to facilitate learning and development in robotics.

2. Característiques clau

• Professional Ackerman Steering Structure: Equipped with one high-quality metal steering gear and two 520 motors, along with special aluminum alloy brackets. Features professional racing tires and anti-collision strips for competitive environments.
• Professional Hardware Configuration: The multi-functional expansion board is compatible with Jetson NANO, Orin NX SUPER, Orin NANO SUPER, and Raspberry Pi 5. Supports optional accessories such as SLAM A1/YDLIDAR 4ROS lidar, Astra Pro Plus depth camera, voice interaction module, and a 7-inch display screen.
• ROS2 Operating System Based: Utilizes Python for programming. Incorporates the MediaPipe development framework for hand and face detection, 3D detection, and recognition. Capable of obtaining depth image data and point cloud images for advanced AI functions.
• Multiple Functions and Remote Control Methods: The R2 robot can perform 3D visual mapping navigation, radar obstacle avoidance, visual recognition, target tracking, voice recognition interaction, and autonomous driving. Control methods include mobile phone APP, wireless handle, ROS operating system, computer keyboard, and JupyterLab web page programming. Supports multi-robot formation, multi-robot navigation, synchronous remote control, and synchronized queue performance.

3. Components i llista d'embalatge

The ROSMASTER R2 comes with a comprehensive set of components for assembly and operation. The exact configuration may vary based on the selected main control board and optional accessories.

Standard Packing List Includes:

• Chassis Part: Ackerman steering chassis (motor, tire, and other basic parts included), metal chassis, 520 reduction motor, 550RPM*2, Lidar fixing plate, light bar fixing plate, camera fixed plate, racing rubber wheel*4, white rubber light guide strip, screwdriver, parts package*3.
• Electronic Control Part: ROS robot expansion board, USB HUB expansion board, OLED screen expansion board, LED light bar, 6000mAh 12.6V power battery and battery charger, handle and mobile phone bracket (optional), several cables, data cable.
• ROS Master Control (Optional, based on version): Raspberry Pi 5 8GB board, 64GB TF card (with robot system image), Raspberry Pi board accessories package, Jetson Orin Nano SUPER version (256GB SSD with robot system image, Jetson Orin Nano board accessories package), Jetson Nano version (Jetson Nano B01 SUB version, 64GB USB disk with robot system image, Jetson Nano board accessories package), Jetson Orin NX SUPER version (Jetson Orin NX 8GB/16GB board, 256GB SSD with robot system image, Jetson Orin NX board accessories package).
• ROS Accessories (Optional): Astra Pro Plus depth camera and fixing bracket, SLAM A1M8 lidar, YDLIDAR 4ROS lidar, AI voice interaction module, some wires.

Note: If you purchase a Jetson Nano version without Jetson Nano board, your package also comes with a 64GB U disk and Jetson NANO board accessory package.

4. Muntatge i muntatge

The ROSMASTER R2 requires assembly. Please follow the detailed instructions provided in the accompanying tutorials. A general overview of the product structure is shown below.

4.1 Configuració inicial

1. Muntatge de maquinari: Carefully assemble the chassis, motors, and electronic components according to the provided visual guides. Ensure all connections are secure.
2. Main Control Board Installation: Install your chosen main control board (Jetson NANO, Orin series, or Raspberry Pi 5) onto the ROS robot expansion board.
3. Connexió perifèrica: Connect the lidar, depth camera, voice interaction module, and other accessories to the expansion board as per the wiring diagrams in the tutorials.
4. Configuració del programari: The robot requires a development environment setup, typically Ubuntu 20.04 LTS with ROS2-Foxy. Refer to the provided tutorials for detailed steps on installing the operating system, ROS2, and necessary drivers.
5. Font d'alimentació: Connect the 12.6V 6000mAh 2C lithium battery pack to power the robot. Ensure proper polarity.

5. Funcionament

The ROSMASTER R2 offers various modes of operation and control methods, leveraging its advanced sensors and AI capabilities.

5.1 Remote Control Methods

The robot can be controlled using several methods:

• Mobile APP Remote Control: Supports iOS/Android dual systems. The APP provides a mapping navigation interface for multi-scene applications.
• PC Computer Control: Utilize a PC computer for advanced control and monitoring through the ROS operating system.
• PS2 Wireless Handle: For an immersive control experience, a PS2 wireless handle can be used.
• Keyboard Remote Control: Direct control via a computer keyboard.
• Jupyter Lab Programming Control: Control the robot through Jupyter Lab for interactive programming and experimentation.

5.2 Funcions avançades

• SLAM Mapping and Navigation: Utilize lidar and depth camera data for simultaneous localization and mapping (SLAM), enabling the robot to build maps of its environment and navigate autonomously.
• Evitació d'obstacles: The robot can detect and avoid obstacles using its lidar and depth camera, ensuring safe movement.
• Visual Recognition and Tracking: Implement AI deep learning frameworks for object detection, color recognition, and KCF target tracking.
• Autonomous Driving: Features like road detection, lane keeping, autonomous parking, and steering decision-making are supported through AI vision.
• Voice Interaction Control: The AI voice interaction module allows for voice commands to control car movement, color tracking, and lighting effects (Ultimate version only).
• Multi-Robot Formation: Supports robot formation, multi-robot navigation, synchronous remote control, and synchronized queue performance.

6. Programming and Tutorials

The ROSMASTER R2 is designed for learning and development in robotics, offering extensive programming options and educational resources.

6.1 Programming Methods

• Jupyter Lab Programming Control: An interactive web-based environment for writing and executing Python code, ideal for robotics experiments.
• ROS System Control: Direct programming and control through the Robot Operating System (ROS/ROS2) framework.

6.2 Tutorials and Resources

A comprehensive set of tutorials and source codes are provided to guide users through various aspects of ROSMASTER R2 development.

• Contingut del curs: Includes Linux operating system, Docker, ROS basic courses, robot control, lidar courses, OpenCV courses, depth camera usage, voice control courses, and deep learning.
• Videotutorials: Over 105 lesson teaching videos with English subtitles are available to help users get started.
• Open Source Python Code: Access to open-source Python code for customization and advanced projects.

For more detailed information and to access the full repository of tutorials and code, please visit the official Yahboom weblloc: http://www.yahboom.net/study/ROSMASTER-R2

7. Especificacions

Below are the detailed specifications for the ROSMASTER R2 robot car.

8. Manteniment

To ensure the longevity and optimal performance of your ROSMASTER R2, follow these maintenance guidelines:

• Neteja: Regularly clean the robot's chassis and sensors to prevent dust and debris buildup, which can affect performance. Use a soft, dry cloth.
• Cura de la bateria: Store the lithium battery pack in a cool, dry place. Avoid overcharging or completely discharging the battery. If storing for extended periods, charge it to about 50-60%.
• Actualitzacions de programari: Periodically check for software and firmware updates for your main control board and ROS2 system. Keeping software up-to-date ensures access to the latest features and bug fixes.
• Inspecció de components: Regularly inspect all connections, wires, and mechanical parts for any signs of wear, damage, or looseness. Tighten screws as needed.
• Condicions ambientals: Operate the robot in clean, dry environments. Avoid exposure to extreme temperatures, moisture, or direct sunlight for prolonged periods.

9. Solució De Problemes

Aquí teniu alguns problemes comuns i les seves possibles solucions:

• El robot no s'encén:
  • Comproveu el nivell de càrrega de la bateria.
  • Assegureu-vos que totes les connexions d'alimentació estiguin segures.
  • Verifiqueu que l'interruptor d'alimentació estigui en la posició ON.
• No Response to Remote Control:
  • Confirm the remote control device (APP, handle, PC) is properly paired and connected to the robot's network.
  • Check the robot's Wi-Fi connection.
  • Ensure the control software on your device is running correctly.
• Navigation or Mapping Errors:
  • Verify lidar and depth camera connections and ensure they are free from obstructions.
  • Check ROS2 nodes for lidar, camera, and navigation are running without errors.
  • Ensure the environment has sufficient features for SLAM algorithms to work effectively.
• Motor or Steering Issues:
  • Inspect motor and steering gear connections.
  • Check for any physical obstructions preventing wheel movement or steering.
  • Review motor driver and steering servo configurations in the software.
• Voice Interaction Not Working:
  • Ensure the voice interaction module is correctly connected and enabled in software.
  • Check microphone input and speaker output.
  • Verify that the voice commands are being recognized by the system.

For more specific troubleshooting, refer to the detailed tutorials and documentation available on the Yahboom weblloc.

10. Consells d'usuari

• Start with Basic Tutorials: Even experienced users can benefit from reviewing the foundational tutorials to understand the specific implementation details of the ROSMASTER R2.
• Experiment with Parameters: Don't hesitate to adjust parameters in the ROS2 configurations to fine-tune performance for different environments or tasks.
• Utilize Docker: For easier environment management and deployment, leverage Docker containers as recommended in the tutorials.
• Implicació comunitària: Explore online forums and communities related to ROS2 and Yahboom products for additional tips, project ideas, and support.

11. Garantia i Suport

YAHBOOM provides support for its products. For any technical issues, questions, or assistance, please refer to the official YAHBOOM website or contact their customer service directly. Keep your purchase records for any warranty claims.

Contact information can typically be found on the YAHBOOM Official Store page or within the product packaging.