YZ Robot ROSYZ-02 User Manual Download | Manualshive

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深圳市璞数技术有限公司

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JP6: GND
JP8: VCC
JP7:

PF7: power on signal
PF8:NA

PF9,PF10: Auto charging guide signal
PE0,PE1: NA

PA4,PA5:NA

PWM1,PWM2: NA
PWM3:NA

PWM4:NA

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Summary of Contents for ROSYZ-02

Page 1: ...深圳市璞数技术有限公司 PAGE 1 OF 14 ROSYZ 02 Robot Platform USER MANUAL Rev 2 0 Dec 2019 SHENZHEN YZ ROBOT CO LTD ...

Page 2: ...trol board and DCDC power board circuit diagram and detailed interface drawings we also provide This YZ 02 ROS platform has built in Intel i5 CPU industrial personal computer installed Ubuntu 16 04 O S and ROS Kinetic packages YZ 02 also has ultrasonic wave sensors which can provide basic obstacle avoidance As optional parts we provide auto charging dock and LIDAR for real applications At the same...

Page 3: ...lue slow flashing 0 5HZ Normal working not charging Blue fast flashing 2HZ Low battery not charging Blue breathing Charging 1 3 ROSYZ 02 Control Board connectors definition CON13 29 32 12 21 11 10 20 15 18 17 8 9 14 25 35 REST RS232 CON27 CON5 28 22 7 GPIO JP4 CON1 CON19 CON16 JP5 CON30 33 31 24 23 2 3 6 4 USB1 USB2 ...

Page 4: ...ut CON17 12V output CON8 12V output CON9 12V output CON14 12V output CON25 12V output CON26 12V output isolated CON28 5V output CON22 5V output isolated Communication and others RS232 UART port CON27 Front ultrasonic sensors CON5 NA CON7 NA CON30 ON OFF button CON33 LEDs display board CON31 SWD CON24 NA CON23 Back ultrasonic sensors CON2 TTL RS232 CON3 NA CON6 NA CON4 NA USB1 USB debug USB2 NA JP4...

Page 5: ...深圳市璞数技术有限公司 PAGE 5 OF 14 JP6 GND JP8 VCC JP7 PF7 power on signal PF8 NA PF9 PF10 Auto charging guide signal PE0 PE1 NA PA4 PA5 NA PWM1 PWM2 NA PWM3 NA PWM4 NA ...

Page 6: ...ion guide Please put this charging dock against a flat wall make sure the front of charging dock is empty enough 3 0 meters 120 without any obstacle in this area AC power input port Charging guide sensor Power LED RED power on Charging Output pins Charging LED RED charging Green full Off Idle Mounting holes ...

Page 7: ...cial message 3 3 YDLIDAR Optional LIDAR package from EAI 3 4 MIIBOO_IMU Optional IMU package from Miiboo 3 5 RBX1_NAV SLAM and navigation demo 1 6 ROSYZ 02 sensors installed ROSYZ 02 pre installed sensors list include optional parts 1 Ultrasonic wave module DYP ME007YY V2 0 2 Mechanical safety strip 3 LIDAR Optional part required by user 4 Auto charging dock Optional part required by user 5 IMU mo...

Page 8: ...form 1 set No battery and decks User decks 1 pc Support pole 4 pc Battery Charger 1 pc P N L200CM 24F8 AC power cord 1 pc Europe type plug M4 Screw 5 pc Screwdriver 1 pc For M4 screw above DCDC cable 1 set 8 wires 10 20cm ROS SDK and Demo 1 set Free download User Manual 1 pc PDF format LiFePO4 BATTERY 1 pc 25 2V14Ah ...

Page 9: ... the cabin 2 2 3 Switch power on Main switch is on the back side of top cover see Page 2 After turn on it then push the ON OFF button the operating status LED will be Blue slow flashing 2HZ If the power LED is not lighting after main switch closed please check the battery voltage is good or not For some reason when you found the battery voltage is 20V please plug in the portable battery charger an...

Page 10: ... command on your robot PC Use SSH command to open a SSH terminal from your desktop PC to remote login robot PC and then launch the gmapping command roslaunch rbx1_nav gmapping_demo_yz launch You can look over the gmapping_demo_yz launch file and learn more details about this launch command 3 Run RVIZ on your desktop PC ternimal Due the running robot has not a monitor and SSH can not provide graphi...

Page 11: ...hen launch the following command roslaunch rbx1_nav yz_demo_move launch map my_map yaml You can look over the yz_demo_move launch file and learn more details about this launch command 3 Run RVIZ on your desktop PC ternimal Before run RVIZ please let your desktop PC s ROS MASTER redirect to robot PC ROS core export ROS_MASTER_URI http robot IP 11311 rosrun rviz rviz d rospack find rbx1_nav nav_test...

Page 12: ...rity of the power supply interface The wrong wiring will damage the interface board or other devices Make sure that the maximum current used by the device does not exceed the limited current value of the DCDC board 3 4 Troubleshooting if the robot is in the use of abnormal function please try to turn off the power and then restart in general the robot will be restored to normal if restarted the ro...

Page 13: ...ed 0 1 1 4 m s 5km hour Maximum load weight 80KG Externa charger 29 4V6A smart charger Auto charging guide Optional Control Board STM32F10X ARM chip Emergency stop Push RED button Upper layer height 30CM Hardware data provided All electronic schematic drawings are provided ROS diver provided Provide ROS node binary file which can output each wheel s ticks and accept setting speed value ROS demo Pr...

Page 14: ...tus and remain capacity level 2 3 Topic name Ultrasound_result check ultrasonic obstacle sensor trigger status Topic value cs_obs 0 none obstacle 1 front obstacle 16 rear obstacle 17 front and rear obstacles Example in a terminal input following text rostopic echo Ultrasound_result Above instruction will display ultrasonic obstacle sensor status 2 4 Topic name Wheel_Switch check emergency switch s...

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