I completed the production of the ROS car during the winter vacation and recorded it, but there are many shortcomings, and then I will make corrections. This series of articles will be divided into four parts: hardware purchase, lower computer, upper computer, and function expansion.
Host computer
- Raspberry Pi 3B+, 16GB SD card
- If you want better mapping and control, you can buy the IMU module in the ROS classroom
Lower computer
- Arduino MEGA2560
drive
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Motor link : This motor from the balance car home and the matching motor bracket and wheels are used
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Motor drive: L298N motor drive module
Dupont cable is used for connection
powered by
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The battery uses this lithium battery
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Raspberry Pi direct power bank power supply
The frame of the trolley is modeled by sw, and the acrylic board is cut out in the picture. It is a differential wheel structure, and the bull's eye wheel is used in the front (you can consider using omnidirectional wheels)