ROSZumo
"second" Small robot based on ESP32 + ROS + ZUMO 32u4 base
Components:
- ZUMO32U4 Base (I2C Slave, Bat ADC, Motor Encoder, PWM for Lidar Stepper, l3gd20h, lsm303d, Line Sonsor, ...)
- ESP32CAM
- ESP32 WRoverwith CAM and SDCard
- driver and connector for rotating LIDAR
- 12x STM VL53L1X TOF sensor
- optional rotating Lidar with PCF8475+ULN2003 Stepper motor
- BNO055 Orientation Sensor
- STM32G081 uC
- connector for orange PI Zero H5
- connector for RPI SPI Display
- NIMH charger with front contacts
- SPI flash
- I2C level shifter
- I2C bus connector
- SPI bus connector
- low power design (shutdown and wakeup)
- optional Stereo/Quad SPI Camera
My Current Setup:
-
Zumo AVR 32U4
- I2C slave
- motor driver
- bridge to all Zumo sensors (line sensor, beeper, IMU, ...)
- battery pack 4xAA
-
STM32G081
- I2C slave
- GPIO extender (e.g. for VL53L1X resets)
- RPI LCD display driver
- Battery changer
- RTC
- low power managment
-
front VL53L1X as I2C slave
-
ESP32Cam
- I2C master
- Camera
- ROS2 Node
- OTA firmware update
-
external Linux PC or RPI3/4 as ROS2 master