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TypingCat / spatial-topology-teleoperation

Teleoperation for Mobile Robot using Semantics
GNU General Public License v3.0
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Hardware introduction #8

Closed TypingCat closed 3 years ago

TypingCat commented 3 years ago

I'm using a modified Turtlebot3 Waffle from Robotis. I just call this robot waffle which is also the name of this project.

hardware

TypingCat commented 3 years ago

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.

TypingCat commented 3 years ago

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.

waffle_layer_1

Both motors are mounted on the second layer. It is a two-layer structure for the bulky Xavier.

waffle_layer_2

On the third layer, the battery(iEnergy 5S), computer(Intel NUC10i7FNH), and USB hub are mounted.

waffle_layer_3

The fourth layer was equipped with a camera(Intel Realsense D435i) and a router(ASUS RT-AC58U).

waffle_layer_4

The fifth layer has a lidar(Slamtec RPLiDAR A3).

waffle_layer_5