Hardware introduction
TypingCat opened this issue · 2 comments
I'm using a modified Turtlebot3 Waffle from Robotis. I just call this robot waffle which is also the name of this project.
- Maximum translational velocity: 0.6m/s
- Weight: 6.2kg
- Wheel radius: 0.08m
- Turning radius: 0.25m
A remote computer and waffle are on the local network together. User can send commands to waffle on the remote computer. The robot executes commands and returns results. User can view the visualized results on the remote computer.
This robot has 5 layers. The battery(Arrowmax Lipo 7200mAh 3S), computer(Nvidia Jetson AGX Xavier), and controller(Robotis OpenCR) were mounted on the first layer.
Both motors are mounted on the second layer. It is a two-layer structure for the bulky Xavier.
On the third layer, the battery(iEnergy 5S), computer(Intel NUC10i7FNH), and USB hub are mounted.
The fourth layer was equipped with a camera(Intel Realsense D435i) and a router(ASUS RT-AC58U).
The fifth layer has a lidar(Slamtec RPLiDAR A3).
