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T-Robot

A DIY omnidirectional mobile robot that supports 2D lidar mapping and autonomous navigation using Micro-ROS and ROS2.

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

Suggested by Robotheca, created by @tianci8 (opens in a new tab), from github.com/tianci8/T-Robot (opens in a new tab). Pinned to commit 51e79ac (opens in a new tab).

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

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

Which files (2 scripts)

Photo and 3D model

T-Robot, photo from its repository
Photo:@tianci8 (opens in a new tab)MITsource file (opens in a new tab)

3D preview converted from github.com/tianci8/T-Robot at 51e79ac, under MIT. View the original files from GitHub (16.4 MB) (opens in a new tab)

Power
12 V

What it can do

Written by Robotheca from the project's documents.

  • Moves on four mecanum wheels
  • Publishes odometry and IMU data over ROS 2
  • Subscribes to cmd_vel for velocity commands
  • Builds 2D maps with a laser scanner using ROS 2 packages
  • Supports autonomous navigation with 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. 1Prepare hardware components
  2. 2Assemble the robot base and structure
  3. 3Install and configure Micro-ROS firmware on ESP32
  4. 4Set up ROS2 environment and packages
  5. 5Configure and test communication between ESP32 and ROS2
  6. 6Install and calibrate the IMU
  7. 7Assemble and mount the laser scanner
  8. 8Configure and test mapping and navigation
  9. 9Final testing and calibration

The guide appears here as you scroll.

Guide by @tianci8 (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32 microcontroller board
  • Sipeed M1Sense (MangoPi MQ Pro) single-board computer with 2 GB RAM
  • LD14 laser scanner
  • MPU9250 IMU
  • Four WGA12-N20 DC gear motors (12 V, 1:50 reduction)
  • Four RZ7889 motor driver chips
  • Four AB incremental magnetic hall encoders
  • 12 V lithium battery pack
  • 12 V to 5 V DC-DC converter (max 4 A)
  • Wi-Fi module for communication

Connections

  • ESP32 connects to four RZ7889 motor drivers via GPIO pins for PWM and direction control
  • ESP32 reads encoder signals from four AB incremental magnetic hall encoders
  • ESP32 communicates with MPU9250 IMU via I2C
  • ESP32 runs micro-ROS firmware and communicates with the Sipeed board over Wi-Fi
  • 12 V battery powers motors directly and the 5 V converter powers ESP32 and Sipeed board