Xiaoqiang

ROS Software Maintainer: Randoms randoms@bwbot.org feng feng@bwbot.org

Xiaoqiang is a general purpose ROS develping platform. It has powerful computational power, long battery endurance and the nimble movement ability. Xiaoqiang is very suitable for developmenting the Ros navigation and the computer vision algorithm. Xiaoqiang has four-wheeled structure, the front two active wheels, and two omni-directional wheels on the back. Such a structure can guarantee the accuracy of the turning angle. The wheel used the rubber material which is not easy to skid to ensure the accuracy and stability of the movement again. Xiaoqiang's main controller is a i7 processor mini computer, contains 8G memory and 64G solid-state drives. This hardware configuration guarantees the strong compute ability of the Xiaoqiang. The battery is 12V 20AH lithium polymer battery, which can be guaranteed to be used for seven hours continuously.

Robot Homepage

Hardware Info

• i7-5500U processor 1.8GHz CPU Turbo 3.0GHZ
• 8G Memory
• 64G SSD
• The power supply battery is 12V 10AH polymer lithium battery.
• Rated output voltage is 36V. Rated output current is 5 A, output power 180W. Xiaoqiang mini can be used for up to 4 hours under high power usage.
• Max Speed: 0.8m/s
• Maximum Acceleration: 1.5m/s^2
• Max Angle Speed: 230 deg/s
• Maximum angular acceleration: 660 deg/s^2
• 8 USB with 4 USB3.0 and 4 USB2.0
• 60fps 178° camera
• MPU9250 9-axis high-precision gyroscope

Tutorials

• Online Documents Pdf Documents

• 1. Basic operation introduction and remote control in LAN

• 2. Bluewhale Robot Open source code repository usage and ROS startup task configuration

• 3. Displaying Xiaoqiang Robot Model in rviz

• 4. Inertial navigation test

• 5. xiaoqiang remote control app for Android

• 6. xiaoqiang remote control Windows client

• 7. use PS3 joystick to control xiaoqiang

• 8. kinect v1 ROS driver test and installation

• 9. use rostopic to control kinect tilt angle

• 10. use kinect for autonomous mobile and obstacle avoidance

• 11. kinect follow package turtlebot_follower

• 12. display point cloud for kinect2

• 13. rplidar A2 LiDAR useage and set udev rules for serial devices for xiaoqiang

• 14. using rplidar A2 with gmapping

• 15. AMCL navigation test

• 16. large-scale lidar slam and real-time loop closure test

• 17. using ORB_SLAM2 to create a three-dimensional model of the environment

• 18. 3D modeling using DSO_SLAM

• 19. usage of NLlinepatrol_planner

• 20. get vision odometer and display the xiaoqiang track in the rviz

• 21. get USB camera 30fps 1080p image stream and 120fps VGA resolution image stream

• 22. Operating 6 DOF robotic arm

• 23. ROS introductions