Ubee

Ubeerobot is a suite of Open Source ROS compatible robots that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.

Tutorial

You can read the full tutorial how to build your robot here.

Multiplatform

Supports multiple types of robot base:

Hardware

3D modeling

ABS laser cutting

1. Getting Started

Sion Jeon edited this page on Dec 1, 2023

1.1 What you need

1.1.1 Supported laser sensors

RPLidar
YDLIDAR X4
YDLIDAR G4
YDLIDAR G6
Intel RealSense D455

1.1.2 Supported IMUs

GY-85
MPU6050
MPU9150
MPU9250
iAHRS

1.1.3 Micro-controller

Arudino UNO

1.1.4 Linux computer

Ubuntu installed laptop (for development)
Ubuntu install ARM based dev board (for the robot)
Tested Boards: Raspberry Pi 3/B+ Jetson Xavier AGX Jetson Nano

1.1.5 Supported Motor Drivers

L298N link
Cytron MDD20A link

1.1.6 Motor

2 x Motors with encoders link

1.1.7 Wheels

2 x Wheels (2WD) link
1 x Caster Wheel

1.1.8 Batteries

iEnergt 2N Battery 20800mAh for SBC link
SAMSUNG 7.4V Battery pack for USB HUB link

1.1.9 Miscellaneous

4 * aluminum extrusion 150mm link
4 * aluminum extrusion 450mm
4 * aluminum extrusion 400mm
16 * AL BRACLET link
32 * T-NUT link
32 * BLOT M4X15

Sofrware

1. Teleop Control

Control Using keyboard launch base driver

roslaunch launch_ubee test.launch

launch teleop keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

2. IMU Sensor Test

launch imu sensor driver

roslaunch mpu_6050_driver imu.launch

rviz

rviz

2. LiDAR configuration

launch base driver

roslaunch launch_ubee test.launch

launch lidar driver

roslaunch ydlidar_ros_driver lidar_view.launch

3. Creating map