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MicroROS Robot📖
01. Introduction
  • 0.Unpacking and reviewing video
  • 1. ReadMe - learning route
  • 2. Introduction to lidar
  • 3. Introduction to microROS control board
  • 4. FAQ
  • 5. About charging
02. Assembly course
  • Assembly steps
03. Preparation
  • First Trial
  • 1. Write firmware
  • 2. How to install and use VM
  • 3. microROS control board configuration
  • 4. Connect to microROS agent
04. VM Remote control course
  • 1. VM keyboard remote control
  • 2. VM handle remote control
05.ROS-WiFi module configuration
  • 0. Serial port configuration WiFi instructions
  • 1.Module usage in car(ReadMe)
  • 2.Connection module proxy
  • 3.Camera picture correction(ReadMe)
  • 4.Calibrate servo PTZ(ReadMe)
06.ROS+OpenCV course
  • 1.OpenCV Getting started
  • 2.Geometric transformation
  • 3.Image processing and drawing text line segments
  • 4.Image beautification
07.Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall inspection
  • 4. Face detection
  • 5. Face recognition
  • 6. Facial effects
  • 7. 3D object recognition
  • 8. Brush
  • 9. Finger control
  • 10. Gesture recognition
08. Robot basic course
  • 1. Robot information release
  • 2. Robot keyboard control
  • 3. Robot handle control
  • 4. Robot state estimation
  • 5. Linear speed calibration
  • 6. Angular velocity calibration
  • 7. Robot URDF model
09. Lidar course
  • 1. Lidar avoid
  • 2. Lidar following
  • 3. Lidar guard
  • 4. Lidarpatrol
  • 5. Gmapping mapping
  • 6. Cartographer mapping
  • 7. Navigation2 navigation avoid
  • 8. ROS Robot APP mapping
  • 9. ROS Robot APP navigation
10. Multi-machine course
  • 1. Multi-machine handle control
  • 2.Multi-machine keyboard control
  • 3. Multi-machine navigation
11.Robot visual interaction
  • 1. Color tracking
  • 2. Object recognition and tracking
  • 3.Face recognition tracking
  • 4.Autonomous driving line patrol
  • 5.QR code motion control
  • 6.Gesture control car movement
  • 7.Palm control car movement
  • 8.Gesture control car action group
  • 9.Palm control 2DOF servo PTZ
12. Linux basic course
  • 1. Introduction to Linux system
  • 2. Ubuntu file system
  • 3. Ubuntu common commands
  • 4. Ubuntu common editors
  • 5. Ubuntu software operation commands
  • 6. Virtual machine installation
  • 7. SSH remote control
  • 8. VNC remote control
  • 9. Remote file transfer
  • 10. Driver library and communication
  • 11. Static IP and hotspot mode
  • 12. Bind device ID
  • 13. Capacity expansion and resource allocation
  • 14. Update system software source
  • 15. set root password
  • 16. sudo free password
  • 17. Connect to WiFi network
  • 18. View system version
  • 19. Customized service management
  • 20. Back up system image
13. Docker course
  • 1. Overview and installation
  • 2. Common commands
  • 3. In-depth understand and publishing images
  • 4. Hardware interaction and data processing
  • 5. Enter robot docker container
18.ROS2 basic course
  • 1. Introduction to ROS2
  • 2.ROS2 install Humble
  • 3. ROS2 development environment
  • 4. ROS2 workspace
  • 5. ROS2 function package
  • 6. ROS2 node
  • 7.ROS2 topic communication
  • 8. ROS2 service communication
  • 9. ROS2 action communication
  • 10. ROS2 custom interface message
  • 11. ROS2 parameter service case
  • 12. ROS2 meta-function package
  • 13. ROS2 distributed communication
  • 14. ROS2 DDS
  • 15. ROS2 time related API
  • 16. ROS2 common command tools
  • 17. ROS2 rviz2 use
  • 18. ROS2 rqt toolbox
  • 19. ROS2 Launch startup file configuration
  • 20. ROS2 recording and playback tool
  • 21. ROS2 URDF model
  • 22. ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
15. microROS control board development environment
  • 1. Introduction to microROS control board
  • 2. Set up ESP32-IDF development environment
  • 3. ESP32-IDF configuration tool
  • 4. Install ESP32-microros components
  • 5. Install and start microROS agent
  • 6. Flash-tool burning firmware
16. ESP32 basic course
  • 1. Turn on the LED light
  • 2. Button function
  • 3. Drive the buzzer
  • 4. Serial communication
  • 5. Battery voltage detection
  • 6. Drive PWM servo
  • 7. Drive motor
  • 8. Read motor encoder data
  • 9. PID controls car speed
  • 10. Read IMU data
  • 11. Read radar data
  • 12. Flash access data
  • 13. Partition table and memory
  • 14. Bluetooth communication
  • 15. WiFi networking
  • 16. Robot kinematics analysis
  • 17. ROS-WiFi camera module
17. microros basic course
  • 1. Publish topic
  • 2. Subscribe topic
  • 3. Multi-topic subscribe and publish
  • 4. Subscribe buzzer topics
  • 5. Subscribe PWM servo topics
  • 6. Subscribe speed control topics
  • 7. Release speed topic
  • 8. Release IMU data topic
  • 9. Publish lidar data topics
  • 10. Customized transmission method
Download
  • Mapping_APP(iOS_Android)
  • Code and firmware
  • Hardware info and driver software
  • VM image file
  • Instruction manual
  • SystemFile_RPi
  • SystemFile_JetsonNANO
  • 3D_Model_File
  • ROS2_Basic_VM
Download ZIP

Welcome to MicroROS Robot repository

3. Introduction to microROS control board

Introduction to microROS control board

The microROS control board is a lightweight ROS2 driver controller and an ESP32S3 dual-core development board. The board integrates ESP32S3 core module control unit, motor driver, servo driver, six-axis IMU attitude sensor and other important peripherals. It supports WiFi, Bluetooth, serial port and other communication functions, and supports four-way encoder motors and two-way PWM servos. , one laser radar and one PD power supply for Raspberry Pi 5. The peripheral driver firmware is shipped from the factory. Users can directly access the ROS2 environment for use. It is easy to operate, simple and efficient to use.

 

Onboard resource description

image-20240106171907322

Battery power supply interface: Connect a 7.4V battery (T-shaped interface) to power the robot.

Battery charging interface: Connect the DC8.4V charger to charge the robot.

Power switch: main power switch of the robot.

Reset button: The reset button of the ESP32S3 control chip.

Radar interface: connect to MS200 laser radar.

Type-C serial port: used for burning firmware, configuring parameters, serial communication and other functions.

Power indicator light and MCU indicator light: indicate the current status of the product.

BOOT button: The BOOT button of the ESP32S3 control chip can also be used as a custom button.

Custom buttons: GPIO of ESP32S3 control chip, programmable custom functions.

Motor interface: connect to 310 encoder motor.

Antenna interface: connect external antenna.

ESP32S3 control chip: The main control chip of the microROS control board, which is responsible for managing all peripheral functions on the board.

Custom GPIO: Programmable custom functions.

Six-axis IMU chip: Provides the current attitude information of the robot.

PWM servo interface: used to connect two PWM servos.

Type-C power supply interface: Connect to the Type-C interface of Raspberry Pi 5 to power Raspberry Pi 5.

Buzzer: active buzzer, used for low voltage alarm prompts.

161EF5E7-478C-4826-BB86-4D371DC83BFC

D1 and D2: Custom indicators.

GPIO pin assignments

image-20240116111340661

Peripheral nameESP32-S3-GPIO
Motor M1-PWM-M1AGPIO4
Motor M1-PWM-M1BGPIO5
Motor M1-Encoder-H1AGPIO6
Motor M1-Encode-H1BGPIO7
Motor M2-PWM-M2AGPIO15
Motor M2-PWM-M2BGPIO16
Motor M2-Encode-H2AGPIO47
Motor M2-Encode-H2BGPIO48
Motor M3-PWM-M3AGPIO9
Motor M3-PWM-M3BGPIO10
Motor M3-Encode-H3AGPIO11
Motor M3-Encode-H3BGPIO12
Motor M4-PWM-M4AGPIO13
Motor M4-PWM-M4BGPIO14
Motor M4-Encode-H4AGPIO1
Motor M4-Encode-H4BGPIO2
BOOT button-IO0GPIO0
Customized keys-KEY1GPIO42
Battery voltage detection-BATGPIO3
MCU indicator-LEDGPIO45
Buzzer-BuzzerGPIO46
Servo interface-S1GPIO8
Servo interface-S2GPIO21
IMU interrupt-INTGPIO41
IMU-I2C-SCLGPIO39
IMU-I2C-SDAGPIO40
Radar RX-serial port 1-TXD1GPIO17
Radar TX-serial port 1-RXD1GPIO18
TypeC burning serial port RX-TXD0GPIO43
TypeC burning serial port TX-RXD0GPIO44
Custom GPIOGPIO35
Custom GPIOGPIO36
Customized indicator lightD1
Customized indicator lightD2

 

Expansion board wiring diagram

image-20240116151755582

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