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ROSMASTER M3📖
00.Configuration and Operation Guide
  • 1.Quick start handle to control the car
  • 2.Log in to the car and view the code
  • 3.Enter the Docker (For RPI5)
  • 4.Camera and Radar Configuration (Must Read)
  • 5.Assembly video
  • 6.Modify Control Board Firmware Parameters
01.Chassis Control Course
  • 01.ROS control
  • 02.Handle control
  • 03.Keyboard control
  • 04.Robot state estimation
  • 05.Data remote visualization
  • 06.Line velocity calibration
  • 07.Angular velocity calibration
  • 08.Robot URDF model
  • 09.Line patrol automatic driving
  • 10.Patrol
02.Lidar Course
  • 01.Lidar introduction and use
  • 02.Lidar point cloud fusion and filtering
  • 03.Lidar obstacle avoidance
  • 04.Lidar tracking
  • 05.Lidar guard
  • 06.Gmapping-SLAM mapping
  • 07.Cartographer-SLAM mapping
  • 08.slam_toolbox mapping
  • 09.Lifelong mapping
  • 10.Navigation2 single-point navigation avoid
  • 11.Navigation2 multi-point navigation avoid
  • 12.Cartographer relocalization navigation
  • 13.slam_toolbox localization and navigation
  • 14.Synchronous mapping and navigation
  • 15.RTAB-Map mapping
  • 16.RTAB-Map navigation
  • 17.APP mapping and navigation
03.AI Model Basics
  • 1.AI large model types and principles
  • 2.RAG retrieval enhancement and model training samples
  • 3.Embodied intelligent robot system architecture
  • 4.Embodied intelligent functions core source code
04.AI Model Development
  • 01.Register a model service provider account
  • 02.Configuring API-KEY
  • 03.Introduction to Dify
  • 04.Basic Dify Features
  • 05.AI Large Model Development - chatbot
  • 06.Deploy the RAG knowledge base
  • 07.RAG knowledge base + chatbot
  • 08.AI agent workflow
  • 09.Custom wake-up response
  • 10.Core module testing tools
05.AI Model - Voice Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understanding
  • 3.Multimodal visual understanding+SLAM navigation
  • 4.Intention estimation
06.AI Model - Text Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understanding
  • 3.Multimodal visual understanding+SLAM navigation
  • 4.Intention estimation
07.Road Network Planning and Navigation
  • 1.Introduction and Quick Start
  • 2.Constructing a Pose Map
  • 3.Road Network Labelling
  • 4.Inter-Road Network Planning and Navigation
  • 5.Free-Pose Road Network Navigation
  • 6.Path Replanning
08.Autonomous Driving expand(Need purchase track map)
  • 01.Environment Setup & Precautions
  • 02.YOLO Environment Configuration
  • 03.Data Collection
  • 04.Data Annotation
  • 05.YOLOv11 Model Training
  • 06.Model Format Conversion
  • 07.Vehicle Centerline Calibration
  • 08.Lane Detection
  • 09.Lane-Keeping Autonomous Driving
  • 10.Traffic Sign Recognition
  • 11.Comprehensive Autonomous Driving Applications
  • 12.Autonomous Driving Debugging Module
  • 13.Road Network Planning with Track Map
  • 14.Road Network Planning with Traffic Sign Recognition
  • 15.AI Model with Road Network Planning
  • 16.AI Model with Track Map and SLAM Navigation
  • 17.AI Model with Road Network Planning and Autonomous Driving
09.Depth Camera Course
  • 01.Dabai_DCW2 Camera Introduction
  • 02.Nuwa-HP60C Camera Introduction
  • 03.Depth Pseudo-Color Image
  • 04.Depth Camera Distance Measurement
  • 05.Wood Block Volume Measurement
  • 06.Edge Detection
  • 07.YOLOv11 Object Detection
  • 08.YOLOv11 Object Tracking
  • 09.Color Following
  • 10.Face Following
  • 11.QR Code Following
  • 12.Machine Code Following
  • 13.KCF Object Tracking
  • 14.QR Code Motion Control
  • 15.AR Vision
10.Mediapipe Visual Course
  • 01.Hand Detection
  • 02.Posture Detection
  • 03.Overall Detection
  • 04.Facial Landmark Detection
  • 05.3D Object Recognition
  • 06.Face Detection
  • 07.Gesture Recognition
  • 08.Face Special Effects
  • 09.Brush
  • 10.Finger Control
  • 11.Palm Target Positioning
  • 12.Fingertip Trajectory Recognition
  • 13.Gesture Following
  • 14.Posture Following
  • 15.Gesture Motion Control
11.Multi-vehicle Course
  • 1.Multi-vehicle Control
  • 2.Multi-vehicle Navigation
  • 3.Multi-vehicle Platoon
12.AI Large Model Basic Course
Offline large model (Text Interaction)
  • 0. AI Large Model Mirroring Explanation
  • 1. Deployment of large-scale AI models
  • 2. Installation of the large model dialogue platform
  • 3. Meta AI Llama 3.2 model
  • 4. Alibaba Cloud Qwen3 Model
  • 5. DeepSeek DeepSeek-R1 model
  • 6. Microsoft Phi-4 mini model
  • 7. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 8. Google Gemma3 Visual Multimodal Large Model
  • 9. Llava Visual Multimodal Large Model
  • 10. Multimodal Visual Understanding Applications
  • 11.MiniCPM-V Visual Multimodal Large Model
  • 12. Multimodal Text-Based Image Application
  • 13. Multimodal Video Analysis Application
  • 14. Multimodal table scanning application
  • 15. Multimodal visual positioning applications
  • 16. Multimodal Autonomous Agent Application
Offline large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Offline speech-to-text (ASR)
  • 2. Offline Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual understanding and voice interaction
  • 5. Multimodal Text-Based Image Application
  • 6. Multimodal Video Analysis Application
  • 7. Multimodal visual positioning applications
  • 8. Multimodal table scanning application
  • 9. Multimodal Autonomous Agent Applications
  • 10. AI large model offline voice assistant
Online large model (Text Interaction)
  • 1. OpenRouter Large Model API Aggregation Platform
  • 2. Multimodal visual understanding applications
  • 3. Multimodal visual positioning applications
  • 4. Multimodal table scanning application
  • 5. Multimodal Autonomous Agent Applications
Online large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Online speech-to-text (ASR)
  • 2. Online Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual and voice interaction
  • 5. Multimodal visual positioning applications
  • 6. Multimodal table scanning application
  • 7. Multimodal Autonomous Agent Applications
  • 8. AI large model online voice assistant
13.Control Board Course
1.Development environment setup
  • 1.Introduction to the Control Board
  • 2.Set up the STM32CUBEIDE development environment
  • 3.Burning STM32 firmware using SWD
  • 4.Burning STM32 firmware using serial port
  • 5.Compile the microros driver library
  • 6.Install and start the microros agent
  • 7.Import Project
2.Control board STM32 basic routine
  • 1.Turn on the LED light
  • 2.Button functions
  • 3.Drive the buzzer
  • 4.Serial communication
  • 5.Battery voltage detection
  • 6.Driving PWM Servo
  • 7.Drive motor
  • 8.Read motor encoder data
  • 9.PID control of motor speed
  • 10.Robot kinematics analysis theory
  • 11.Read IMU data
  • 12.Read Lidar data
  • 13.Flash access data
  • 14.Driving OLED Displays
  • 15.Driving RGB light strip
  • 16.SBUS model aircraft remote control
  • 17.USB controller remote control
  • 18.CAN bus communication
3.Control board micro_ros basic routine
  • 1.Post a topic
  • 2.Subscribe to a topic
  • 3.Multi-topic subscription and publishing
  • 4.Subscribe to the buzzer topic
  • 5.Subscribe to the bus servo topic
  • 6.Subscribe to the rate control topic
  • 7.Release Speed Topic
  • 8.Publish IMU data topic
  • 9.Publish radar data topic
14.Main Control Course
Jetson Orin Nano_NX
  • 1.Jetson Orin board introduction
  • 2.Restore the factory image system
  • 3.Backup SSD system
  • 4.SSD expansion
  • 5.Network configuration
  • 6.SSH remote login
  • 7.VNC remote control
  • 8.Remote file transfer
  • 9.Jtop tool
  • 10.Exchange space expansion
Raspberry Pi
  • 1. Introduction to Raspberry PI 5
  • 2. Raspberry PI system installation and backup
  • 3. Powering the Raspberry PI 5
  • 4. Startup of Raspberry PI 5
  • 5. Update and upgrade operating system
  • 6. Introduction to raspi-config tool
  • 7. config.txt file description
  • 8. Network Configuration
  • 9. remote access
  • 10. Transfer files remotely
  • 11. Set display resolution and rotation
  • 12. Set screen to sleep
  • 13. Play audio and video
  • 14. Using USB camera
  • 15. Using MIPI camera
  • 16. Get real-time temperature of Raspberry Pi
RDKX5
  • 1.Introduction to RDK X5 board
  • 2.Write system file
  • 3.Hardware interface description
  • 4.Install case and other accessories
  • 5.Network configuration
  • 6.Remote login
  • 7.Update system
  • 8.srpi-config user guide
  • 9.config. txt configuration file
  • 10.Self-startup setting
  • 11.RDK exclusive command usage
  • 12.Linux command usage
  • 13.GPIO readwrite operation
  • 14.Image classification algorithm
  • 15.Use USB camera
  • 16.Use MIPI camera
  • 17.Binocular camera depth algorithm
15.YOLOv11 Development (ORIN)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Dataset annotation
  • 10.Model Training_Conversion
  • 11.Model prediction
16.YOLOv11 Development(RDKX5）
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model prediction
  • 9.Model Quantization
17.YOLOv11 Development (RPI)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Model prediction
18.Linux Operating System
  • 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.Transfer files remotely
  • 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 sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
19.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
20.Docker Course
  • 1、Docker overview and docker installation
  • 2、Common commands for docker image containers
  • 3、Docker images deeply understand and publish images
  • 4、Docker hardware interaction and data processing
  • 5、Enter the bot's docker container
  • 6、Robot development environment construction in Docker
21.Image Processing Basics Course
  • 1. Introduction to Open Source CV
  • 2. Image reading and display
  • 3. Image writing
  • 4. Image quality
  • 5. Pixel Operation
  • 6. Image zoom
  • 7. Image cutting
  • 8. Image translation
  • 9. Image Mirroring
  • 10. Affine Transformation
  • 11. Image Rotation
  • 12. Perspective Transformation
  • 13. Grayscale processing
  • 14. Image Binarization
  • 15. Edge Detection
  • 16. Line drawing
  • 17. Rectangle and circle drawing
  • 18. Drawing text and pictures
Download
  • Mapping_APP(iOS_Android)
  • MainBoard_AI_Pure_System
  • Robot_Image_System_File
  • Code-Firmware
  • Instruction_Manual
  • VM_File
  • Software_Tools
  • Firmware_DriverFile
  • 3D_Model_File
  • ROS2_Basic_VM
  • Other_Annex
Download ZIP

Welcome to ROSMASTER M3 repository

1.Introduction to the Control Board

Introduction to the Control Board

Introduction to the Control Board1. Component distribution diagram on the front of the control board2. Component distribution diagram on the back of the control board3. Control board pin assignment diagram4. Analysis of Common Problems

 

1. Component distribution diagram on the front of the control board

image-20250506185458572

  1. KEY1 key: User function key, which can realize customized functions through programming.
  2. RESET button: reset the STM32 microcontroller.
  3. BOOT0 key: used to enter the burning mode when burning STM32 firmware.
  4. Active buzzer: whistle and low battery alarm functions.
  5. Left radar interface: Serial port 4, connected to the left rear radar.
  6. Debug interface: Serial port 7, can be connected to a TTL module to view log information.
  7. Right radar interface: Serial port 5, connected to the right front radar.
  8. Control interface: Serial port 6, can be connected to TTL module and send protocol to control the robot.
  9. CAN interface: can be connected to CAN bus devices and send protocols to control the robot.
  10. OLED screen interface: can display the status of the board
  11. RGB light bar interface: displays the light bar color status
  12. SBUS interface: connect to SBUS aircraft remote controller
  13. PWM servo interface: connect to PWM servo
  14. PWM servo voltage switch: PWM servo voltage can be selected as 5V or 6.8V
  15. 6.8V serial servo interface: connect to 6.8V serial servo
  16. 12V serial servo interface: connect to 12V serial servo
  17. 12V serial servo interface: connect to 12V serial servo
  18. Communication and firmware burning interface: TYPE-C serial port for burning MCU firmware and data communication
  19. Handle interface: connect USB handle
  20. M3 motor: connected to the right front motor of the car
  21. M4 motor: connected to the right rear motor of the car
  22. M1 motor: connected to the left front motor of the car
  23. M2 motor: connected to the left rear motor of the car
  24. Type-C 5V output interface: 5.1V\5A output, with Raspberry Pi exclusive protocol
  25. DC 5V output interface: provides 5V voltage output
  26. T-type DC 12V power input interface: connect to 12V power supply to power the motherboard
  27. LED indicator: LED indicator to show voltage and function
  28. DC12V power output: provides 12V voltage output
  29. DC12V power output: provides 12V voltage output
  30. Power switch: controls the entire board. Turn the switch to OFF to shut down the board, and turn it to ON to power on the board.
  31. Charging port: 12.6V charging port
  32. Nine-axis attitude sensor: including 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer
  33. SWD debug interface: users can use ST-LINK for debugging

2. Component distribution diagram on the back of the control board

image-20250506185739679

  1. STM32 microcontroller: main chip, controls the function operation of the entire board
  2. Charging port: 12.6V charging port
  3. Self-locking switch interface: can be used to connect an external self-locking switch to control the switch of the entire board

3. Control board pin assignment diagram

image-20250610095344137

Peripheral functionsPinsRemark
Active buzzerPE5Common GPIO
RGB light stripsPE6SPI4_MOSI (SPI4_SCK is the SPI4 clock, which is not needed and has been left floating)
LED_MCU indicatorPC13Ordinary GPIO, status indicator
LED_ROS indicatorPC14Ordinary GPIO, ROS status indicator
KEY1 buttonPC15Ordinary GPIO, input pull-up
25M crystal oscillatorPH0/PH1 
BAT power supply voltage detectionPC0ADC detection
LED_SW indicatorPC1Ordinary GPIO, switch indicator light
IMU attitude sensorPC2/PC3/PB13/PB12/PD10SPI2 - MISO/MOSI/SCK/NSS/INT
M3 motor encoderPA0/PA1Encoder mode, Timer 5 channel 1 and channel 2
SBUS interfacePA3Serial port 2 receiving pin (PA2 is the serial port 2 sending pin, which is not needed and has been left floating)
M3 motor drivePA5/PB0PWM output mode, timer 8 channel 1N and channel 2N
Debug interfacePE7/PE8Serial port 7, print log information
M2 motor drivePE9/PE11PWM output mode, Timer 1 channel 1 and channel 2
M1 motor drivePE13/PE14PWM output mode, timer 1 channel 3 and channel 4
OLED displayPB10/PB11I2C interface
PWM servo S1PB15Timer 12 channel 2
PWM servo S2PB14Timer 12 channel 1
Bus ServoPD8/PD9Serial port 3
M4 motor encoderPD12/PD13Encoder mode, Timer 4 channel 1 and channel 2
Control interfacePC6/PC7Serial port 6
M4 motor drivePC8/PC9PWM output mode, timer 8 channel 3 and channel 4
Burning and communication interfacePA9/PA10Serial port 1
USB controller interfacePA11/PA12USB Host
SWD interfacePA13/PA14SWDIO/SWCLK
M2 motor encoderPA15/PB3Encoder mode, Timer 2 channel 1 and channel 2
Left radar interfacePC10/PC11Serial port 4
Right radar interfacePC12/PD2Serial port 5
CAN interfacePD0/PD1 
M1 motor encoderPB4/PB5Encoder mode, Timer 3 channel 1 and channel 2

4. Analysis of Common Problems

  1. How does a main control board (such as Jetson Nano) drive a control board? How do I communicate with the control board?

A: The factory firmware of the control board integrates the Microros framework program. Jetson Nano is connected to the control board through the USB Connect interface, opens the Microros agent and sends the corresponding topic instructions. The microcontroller integrated in the control board receives and parses the data, and then processes the specific commands to be executed.

  1. How is the robot powered? Does the main control board need a separate power supply?

A: The car comes with a battery pack. Plug the battery pack into the DC 12V T-type power connector on the control board and turn on the main power switch. The control board has an integrated voltage conversion chip. For the Jetson Nano motherboard, power is supplied via the DC 5V power cable. For the Raspberry Pi 5, power is supplied via the Type-C 5V output power cable with protocol. For the Jetson Orin series, power is supplied via the DC 12V output power cable.

  1. How to update the MCU firmware? Why do we need to update the MCU firmware?

A: The MCU integrated into the control board is pre-loaded with factory firmware. You do not need to update the firmware unless necessary. If you need to update the firmware, please refer to the firmware update tutorial to update the MCU firmware. If the control board has been pre-loaded with a separate hex file, please re-load the firmware to the factory firmware before running the ROS example.

AI large model online voice assistant
Set up the STM32CUBEIDE development environment

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