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:

• 2WD

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

launch base driver

roslaunch launch_ubee test.launch

launch lidar driver

roslaunch ydlidar_ros_driver lidar.launch

launch slam driver

roslaunch hector_slam_launch tutorial.launch