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Uni Wr2

A two-wheeled differential-drive robot using ROS Noetic for SLAM navigation with Gmapping, Hector, and Cartographer.

  • Wheeled
  • No license: all rights reserved by the creator
  • ROS
  • 3D printable

Suggested by Robotheca, created by @unirobot-com (opens in a new tab), from github.com/unirobot-com/Uni_Wr2 (opens in a new tab). Pinned to commit 0050f14 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

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

Which files (97 scripts, 14 firmware images)

Photo

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

  • Build 2D maps with Gmapping, Hector or Cartographer SLAM
  • Navigate autonomously using a local path planner (DWA) with any of the three SLAM methods
  • Differential-drive two-wheel robot controlled by keyboard or ROS topics
  • Supports remote control via ROS launch files and teleop_twist_keyboard

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Assemble hardware components
  2. 2Set up ROS Noetic environment
  3. 3Install and configure Gmapping for SLAM
  4. 4Install and configure Hector for SLAM
  5. 5Install and configure Cartographer for SLAM
  6. 6Test navigation with Gmapping
  7. 7Test navigation with Hector
  8. 8Test navigation with Cartographer

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Raspberry Pi controller board
  • Two encoded DC motors with drivers
  • 2D laser scanner (LiDAR)
  • PC or virtual machine running Ubuntu 20.04 and ROS Noetic for upper-level navigation

Connections

  • Motors connected to Raspberry Pi via motor drivers and pigpio library
  • LiDAR connected to Raspberry Pi via USB or GPIO as configured by ydlidar_ros_driver