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Andino

Andino is a fully open-source diff drive robot for education and low-cost applications, integrated with ROS 2.

  • Wheeled
  • Open source
  • ROS 2
  • 3D printable

Suggested by Robotheca, created by @Ekumen-OS (opens in a new tab), from github.com/Ekumen-OS/andino (opens in a new tab). Pinned to commit 8ee8408 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
BSD-3-Clause (opens in a new tab)
Software license
BSD-3-Clause (opens in a new tab)
Commercial use
Allowed

Some folders have their own license: andino_base/ (BSD-3-Clause), andino_bringup/ (BSD-3-Clause), andino_control/ (BSD-3-Clause), andino_description/ (BSD-3-Clause).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (4 scripts)

Photo and 3D model

Andino, photo from its repository
Photo:@Ekumen-OS (opens in a new tab)BSD-3-Clausesource file (opens in a new tab)

3D preview converted from github.com/Ekumen-OS/andino at 8ee8408, under BSD-3-Clause. View the original files from GitHub (1.1 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Andino is an open-source differential drive robot for education and low-cost use, integrated with ROS 2.
  • Closed-loop speed control of two wheel motors via PID, with commands given in ticks per second.
  • Open-loop motor control with direct PWM values, forward and backward.
  • Auto-stop: motors stop and PID disables if no motor command arrives within 3 seconds.
  • Reads wheel encoder ticks and an optional BNO055 IMU, reporting orientation, angular velocity and acceleration.
  • Teleoperation by keyboard or joystick, and navigation/SLAM via ROS 2 packages.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Visit andino_hardware for assembly instructions
  2. 2Install ROS 2 Humble or Jazzy and colcon
  3. 3Create a colcon workspace and clone the repository
  4. 4Install dependencies via rosdep
  5. 5Build the packages with colcon build
  6. 6Source the built packages
  7. 7Launch the robot bringup

The guide appears here as you scroll.

Guide by @Ekumen-OS (README.md), under BSD-3-Clause.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Arduino Uno, Arduino Nano, or STM32 Blue Pill microcontroller running the firmware.
  • Two wheel motors with encoders; an L298N motor driver is mentioned for enable wiring.
  • Optional Adafruit BNO055 IMU on the I2C bus.
  • Single-board computer such as a Raspberry Pi 4B running ROS 2 on the real robot.
  • RP 2D LiDAR and a camera are launched as sensors on the real robot.
  • Battery and power supply are not described in the documents.

Connections

  • Each encoder's channels A and B connect to specific microcontroller interrupt-capable pins, listed per board.
  • Each motor has backward PWM, forward PWM and enable pins on the microcontroller, which drive the motor driver.
  • The Arduino enable input of the L298N can be jumped to 5V if the board has a jumper.
  • The IMU connects over I2C (SCL and SDA pins).
  • The Blue Pill serial link is its USB port and needs no USB-to-serial adapter; it is flashed through an ST-Link on the SWD header.
  • On Arduino boards the host connects over serial at 57600 baud.