## page was renamed from Robots/ROSbot
# *** Description of the template *** 
# Template of a "robot page" to be added under http://wiki.ros.org/Robots/ 
# For the robot described in this page: 
# - ROS must be used somehow, regardless of the extent. 
# - Its ROS software packages don't always need to be publicly accessible (although preferred). 
# - If software is publicly available, you're encouraged to refer to their web page within this page in the "Library Overview" section. 
# - For making wiki pages of your robot's ROS packages, see [[http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation|http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation]] 
# - For making a release of your robot's ROS packages, see http://wiki.ros.org/bloom/Tutorials 
# - Good example of robot page http://wiki.ros.org/Robots/PR2

= ROSbot =
{{attachment:rosbot1.jpg|ROSbot|width=100%}}

ROS Software Maintainer: Husarion contact@husarion.com [[https://husarion.com/]]

A robot with LiDAR, designed to learn and develop ROS projects, with a dedicated tutorial available. A good base for adding extensions (sensors, grippers etc.) thanks to many interfaces available on the rear panel.

<<TOC(3)>>

== Tutorials ==
The complete set of ROS tutorials, dedicated for ROSbot: 
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/1-ros-introduction/ |ROS introduction]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/2-creating-nodes/ |Creating nodes]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/3-simple-kinematics-for-mobile-robot/ |Simple kinematics for mobile robot]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/4-visual-object-recognition/ |Visual object recognition]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/5-running-ros-on-multiple-machines/ |Running ROS on multiple machines]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/6-slam-navigation/ |SLAM navigation]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/7-path-planning/ |Path planning]]
 1. [[https://husarion.com/core2/tutorials/ros-tutorials/8-unknown-environment-exploration/ |Unknown environment exploration]]

The new tutorials (but dedicated for ROSbot 2.0 only) will be available soon. 

You can build ROSbot thanks to assembly instructions available on [[https://hackaday.io/project/21885-rosbot-autonomous-robot-platform | Hackaday]], or buy a new [[https://store.husarion.com/products/rosbot | ROSbot 2.0 in Husarion store]]

== Hardware ==

ROSbot is an open source, mobile robot platform containing:

 * USB camera
 * Laser scanner 360° RPLiDAR A2
 * Solid aluminum cover
 * Wi-Fi antenna
 * Orientation sensor (MPU-9250)
 * 4x IR distance sensors (Sharp GP2Y0A41SK0F 40-300mm)
 * 2x left & 2x right DC motors with quadrature encoders
 * Husarion CORE2-ROS controller (with ASUS Tinker Board inside)

{{attachment:rosbot_side.png|ROSbot|width=100%}}

{{attachment:rosbot_rear.png|ROSbot|width=100%}}

The hardware platform is described on Hackaday.io: https://hackaday.io/project/21885-rosbot-autonomous-robot-platform

== Controller ==

ROSbot is based on the Husarion CORE2-ROS controller, which consists of 2 boards:
 * a low-level controller (Husarion CORE2) based on STM32F407ZGT6 microcontroller, with motor drivers and many interfaces available on board,
 * a single board computer (ASUS Tinker Board) running with Ubuntu and ROS.
The Husarion CORE2 works with hFramework, a C++ library that works as an high-efficient abstraction layer for hardware interfaces and is based on RTOS.

The Ubuntu image for ASUS Tinker Board, with ROS pre-installed is available here:
 * [[https://files.husarion.com/ros-image-stable.img.xz]]
This image is prepared for quick start with tutorials.

== Documentation and support ==
[[https://files.husarion.com/ROSbot_manual.pdf|The short user guide]]

If you need more support, please contact us: support@husarion.com

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## RobotOverview