yahboom
HomeLearn
Solution
Blog
Online Store
About Us
EN/中文
ROSMASTER X3📖
1.About ROSMASTER X3
  • 1.1 Wiring Introduction
  • 1.2 Precautions for battery
  • 1.3 First Trial
2.Assembly steps
  • Installation Video(1-10)
  • Installation Video(11-18)
  • Installation Video(20-28)
  • Installation Video(29-30)
3.ROS1-Remote control course
  • 3.1 APP remote control
  • 3.2 Model aircraft remote control
  • 3.3 Handle remote control
4.ROS1-Hardware course
  • 4.1 About expansion board_V3.0
  • 4.1 About expansion board_V1.0
  • 4.2 STM32 Development environment
  • 4.3 Button to control the buzzer to whistle
  • 4.4 FreeRTOS application
  • 4.5 Serial communication
  • 4.6 SBUS model aircraft remote control
  • 4.7 CAN bus communication
  • 4.8 RGB colorful light bar
  • 4.9 Timer interrupt to control PWM servo
  • 4.10 Control serial port servos
  • 4.11 Nine-axis attitude sensor to obtain data
  • 4.12 Control motor
  • 4.13 Timer captures the encoder data
  • 4.14.1 Kinematic Analysis of Mecanum Wheel
  • 4.14.2 Kinematics Analysis of Ackermann Car
  • 4.15 PID control robot movement
5.ROS1-Basic course
  • 5.1 Update the firmware
  • 5.2 Turn off the self-starting process at startup
  • 5.3 Install the Rosmaster driver library
  • 5.4 Buzzer whistle
  • 5.5 Control PWM servo
  • 5.6 RGB colorful light bar special effects display
  • 5.7 Control motor
  • 5.8 Control robot movement
  • 5.9 Control Serial Servo
6.ROS1-Linux operating system
  • 6.1 Virtual machine installation and use
  • 6.2 Linux basics
  • 6.3 Remote control
  • 6.4 Multi-machine communication configuration
  • 6.5 Static IP and hotspot mode
  • 6.6 Bind the device ID
  • 6.7 Web page real-time monitoring
  • 6.8 Expansion tutorial
  • 6.9.1 Jetson Nano write sytem
  • 6.9.2 Jetson Xavier NX write system
  • 6.9.3 Jetson TX2 NX write system
  • 6.9.4 Raspberry Pi write system
7.ROS1-Docker-pi5
  • 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
  • 7、How customers can update docker images in the future
8.ROS1-ROS basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
9.ROS1-OpenCV courses
  • 9.1 Getting started with Open Source CV
  • 9.2 Geometric transformation
  • 9.3 Image processing and drawing text line segments
  • 9.4 Image beautification
  • 9.5 Opencv application
  • 9.6 AR vision
  • 9.7 AR QR code
  • 9.8 ROS+Opencv foundation
  • 9.9 ROS+Opencv application
  • 9.10 Data transformation and point cloud
  • 9.11 MediaPipe development
10.ROS1-Robot control course
  • 10.1 PID algorithm theory
  • 10.2 Robot PID debugging
  • 10.3 Robot information release
  • 10.4 Robot keyboard control
  • 10.5 Robot handle control
  • 10.6 Robot state estimation
  • 10.7 Robot calibration
  • 10.8 Robot URDF model
11.ROS1-Depth camera course
  • 11.1 How to use the Astra camera
  • 11.2 Astra camera calibration
  • 11.3 Astra Color Tracking
  • 11.4 Astra Object Tracking
  • 11.5 Visual tracking autopilot
  • 11.6 Pure visual 2D mapping and navigation
  • 11.7 RTAB-Map 3D mapping navigation
  • 11.8 ORB_SLAM2 basics
  • 11.9 ORB_SLAM2_Octomap
12.ROS1-Lidar course
  • 12.1 Lidar basic-SLAM
  • 12.1 Lidar basic-4ROS
  • 12.2 Lidar avoiding
  • 12.3 Lidar guard
  • 12.4 Lidar follow
  • 12.5 Patrol game
  • 12.6 gmapping mapping algorithm
  • 12.7 hector mapping algorithm
  • 12.8 karto mapping algorithm
  • 12.9 cartographer mapping algorithm
  • 12.10 rrt_exploration mapping algorithm
  • 12.11 AMCL
  • 12.12 Navigation and avoiding
  • 12.13 APP mapping and navigation
13.ROS1-Multi-robot control course
  • 13.1 Multi-machine handle control
  • 13.2 Multi-machine navigation
  • 13.3 Multi-machine formation
  • 13.4 Multi-machine surround
14.ROS1-Deep learning courses
  • 14.1 KNN recognizes handwritten digits
  • 14.2 Basic use of TensorFlow
  • 14.3 Basic use of PyTorch（jetson）
  • 14.4 yolov5 model training（jetson）
  • 14.5 yolov5+tensorrt acceleration（jetson）
  • 14.6 yolov4-tiny
15.ROS1-Voice control courses
  • 15.0 How to use old voice module in new image
  • 15.1 Introduction of voice control module-NEW
  • 15.2 Voice control module port binding-NEW
  • 15.1 Introduction of voice control module-Old
  • 15.2 Voice control module port binding-Old
  • 15.3 Voice control car movement
  • 15.4 Voice control Autopilot
  • 14.5 Voice control color recognition
  • 15.6 Voice control color tracking
  • 15.7 Voice control multi-point navigation
16.ROS1-Model training Autopilot
  • 16.0 ReadMe
  • 16.1 yolov5 to train traffic signs
  • 16.2 TensorRt acceleration identification mark
  • 16.3 Road sign indication function description
  • 16.4 Collect data
  • 16.5 Training model
  • 16.6 Model transformation and application
  • 16.7 AI Autopilot
17.ROS2- Remote control course
  • 1. APP control
  • 2. Model aircraft control
  • 3. Wireless Handle Control Tutorial
18.ROS2- Hardware course
  • 1. About expansion board_V1.0
  • 1. About expansion board_V3.0
  • 2. STM32 Development environment
  • 3. Button control
  • 4. FreeRTOS application
  • 5. Serial communication
  • 6. SBUS model aircraft remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt to control PWM servo
  • 10. Control serial port servos
  • 11. Nine-axis attitude sensor to obtain data
  • 12. Control motor
  • 13. Timer captures the encoder data
  • 14. Robot kinematics analysis theory
  • 15. PID control robot movement
19.ROS2- ROSMASTER basic course
  • 1. Update the firmware
  • 2. Turn off the self-starting process at startup
  • 3. Install the Rosmaster driver library
  • 4. Buzzer whistle
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects display
  • 7. Control motor
  • 8. Control robot movement
  • 9. Control Serial Servo
20.ROS2- Linux operating systemnew
  • 1. Virtual machine installation and use
  • 2. Linux basics
  • 3. Remote control
  • 4. Multi-machine communication configuration
  • 5. Static IP and hotspot mode
  • 6. Bind the device ID
  • 7. Web page real-time monitoring
  • 8. Expansion tutorial
  • 9.1 Jetson Nano write sytem
  • 9.2 Raspberry Pi write system
  • 9.3 Orin series write system
  • 10.Jetpack old system upgraded to SUPER systemnew
21.ROS2- Docker（Nano Pi）
  • 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. Entering the Docker Container of the Robot
  • 6. Building a Robot Development Environment in Docker
  • 7. Method for customers to update Docker images in the future
22.ROS2- ROS2 Basic Tutorial
  • 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
23.ROS2- Robot control course
  • 1. PID Algorithm Theory
  • 2. Robot information release
  • 3. Robot control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
24.ROS2- Depth camera course
  • 1.Depth camera usage
  • 2. Camera internal reference calibration
  • 3. color tracking
  • 4. KCF object tracking
  • 5. ORB_SLAM2 basics
  • 6. ORB_ SLAM2 PCL mapping
  • 7. ORB_ SLAM2 Octomap mapping
  • 8. RTAB-Map 3D mapping navigation
25.ROS2- Lidar course
  • 1. Introduction and Use of Lidar
  • 2. Lidar avoiding
  • 3. Lidar follow
  • 4. Lidar guard
  • 5. Patrol game
  • 6. Gmapping mapping algorithm
  • 7. Cartographer mapping algorithm
  • 8. Navigation and obstacle avoidance
  • 9. Rosmaster_ X3 conducts mapping through the APP
  • 10. Rosmaster_ X3 Navigation through APP
26.ROS2- OpenCV courses
  • 1. OpenCV Basic Course
  • 2. ROS+opencv application
  • 3. QR code creation and recognition
  • 4. AR Vision
  • 5. Mediapipe fun gameplay
  • 6、line patrol automatic driving
27.ROS2- Voice control courses
  • 0.How to use old voice module in new image
  • 1. Introduction of voice module-new
  • 2. Voice control module port binding-new
  • 1. Introduction of voice module and port binding-old
  • 3. Voice control car movement
  • 4. Voice control Autopilot
  • 5. Voice control color recognition
  • 6. Voice control color tracking
  • 7. Voice control multi-point navigation
28.Deep learning courses（SUPER）
  • 1.KNN recognizes handwritten digitsnew
  • 2.Basic use of TensorFlownew
  • 3.Basic use of PyTorch（jetson）new
  • 4.YOLOv11Model conversion（SUPER）new
  • 5.YOLOv11Dataset annotation（SUPER）new
  • 6.YOLOv11Model conversion + tensorrt acceleration（SUPER）new
  • 7.YOLOv11Object recognition（SUPER）new
29.ROS2-Multi-robot control
  • 1. Multi-robot control
  • 2. Multi-robot navigation
LLM tutorial
1.Development environment
  • 0. Model usage instructions
  • 1.Environments deployment
  • 2.Dialogue platform installation
2.Jetson Nano B01
  • 1.Qwen2 model
  • 2.TinyLlama model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.Orca Mini model
  • 6.StarCoder2 model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA-Phi3
3.Jetson Orin NXNANO
  • 1.Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Codellama model
  • 7.DeepSeek-R1 model
  • 8.Orca Mini model
  • 9.StarCoder2 model
  • 10.TinyLlama model
  • 11.Expand LLaVA
  • 12.Expand LLaVA-Phi3
4.Raspberry Pi 5B
  • 1.Meta AI Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Meta AI Codellama model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA
FAQ
  • 1.Using your own Jetson board, ROSMASTER X3 cannot start normally
Download
  • RemoteCtrl_APP(Android/iOS)
  • Mapping_APP(iOS_Android)
  • Instruction Manual
  • SystemFile_ROS2
  • SystemFile_ROS1
  • SystemFile_ROS2_OrinNANOSUPER
  • SystemFile_ROS2_OrinNXSUPER
  • Code
  • Jetson_Boot_USB.tar.gz
  • VM software
  • Autopilot Annex
  • Other_Annex_File
  • LLM_SystemFile
  • ROS2_Basic_VM
Download ZIP
FAQ
  • 1、How to connect OLED?

Welcome to ROSMASTER X3 repository

12.13 APP mapping and navigation

13.APP Mapping and Navigation（new）

APP Mapping and Navigation

How to download mapping APP

 

For Android users, open the mobile browser and scan following QR code to download and install Yahboom ROS Robot APP.

For iOS users, please search [Yahboom ROS Robot] on App store, or open camera or brower, scan following QR code to download and install Yahboom ROS Robot APP.

APP

13.1.1、start up

NOTE:

1. When creating a map, the slower the speed, the better the effect (note: if the rotation speed is slower). If the speed is too fast, the effect will be very poor ​ 2. Before creating a map, you must first close the self starting large program

According to different vehicle models, you only need to set the purchased model in [. bashrc], such as X1 (ordinary four-wheel drive), X3 (wheel drive), X3plus (wheel mechanical arm), R2 (Ackermann differential), etc. This section takes X3 as an example

#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to ROS/07, Docker tutorial
~/run_docker.sh

Open the [. bashrc] file

xxxxxxxxxx
sudo vim .bashrc  

Search for the ROBOT_TYPE parameter and modify the corresponding vehicle model

xxxxxxxxxx
export ROBOT_TYPE=X3   # ROBOT_TYPE: X1 X3 X3plus R2 X7

Start the driver command (on the robot side). For ease of operation, this section takes [mono+laser+ yahboomcar] as an example. Laser+Transbot cannot set the camera screen.

xxxxxxxxxx
roslaunch yahboomcar_nav laser_bringup.launch           # laser + yahboomcar
roslaunch yahboomcar_nav laser_usb_bringup.launch       # mono + laser + yahboomcar

Start the mapping function (robot side)

<PI5 needs to open another terminal and enter the same docker container

image-20240408144126098

xxxxxxxxxx
roslaunch yahboomcar_nav yahboomcar_map.launch use_rviz:=false map_type:=gmapping

Start the radar data transfer point cloud node and rosbridge and other nodes (Raspberry Pi version)

xxxxxxxxxx
source /home/pi/ROS/laser_app/devel/setup.bash
roslaunch /home/pi/ROS/laser_app/laser_app.launch
#PI5
source /root/ROS/laser_app/devel/setup.bash
roslaunch /root/ROS/laser_app/laser_app.launch

Start converting radar data to point cloud nodes and nodes such as rosbridge (Jetson nano version)

xxxxxxxxxx
source /home/jetson/ROS/laser_app/devel/setup.bash
roslaunch /home/jetson/ROS/laser_app/laser_app.launch

 

13.1.2、usage

After the robot is started, click APP

To ensure that the mobile phone and the robot are in the same LAN, enter the robot [IP] in the input box, select ROS1 by default, select 【en】 as the default language, and click [Connect] to log in.

Enter the ip displayed on the oled of the car, and the radar scanning map will appear after the connection is successful, as shown in the figure below：

At this time, slide the joystick in the lower right corner. When sliding the joystick, the slower the speed, the better the effect (especially the rotation speed), and control the robot to move until the map is created.

13.1.3、save map

When the map is created, click the Save Map button

Click on the top of the input box, enter the name [house] to save the map, and click [Submit] (English only, no symbols), and save the map.

The directory for saving the map is as follows：

Raspberry Pie:

xxxxxxxxxx
/home/pi/yahboom_ws/src/yahboom_nav/maps
#PI5
/root/yahboomcar_ws/src/yahboomcar_nav/maps

jetsin nano：

xxxxxxxxxx
/home/jetson/yahboom_ws/src/yahboom_nav/maps

 

13.2、Navigation obstacle avoidance

Note: [R2] of the remote controller has the function of canceling the navigation target point! ! ! When navigating [Full] Do not use the joystick control! ! !

13.2.1、start up

Start the driver command (on the robot side). For ease of operation, this section takes [mono+laser+RosMaster] as an example. Laser+RosMaster cannot set the camera screen.

xxxxxxxxxx
roslaunch yahboomcar_nav laser_bringup.launch           # laser + yahboomcar
roslaunch yahboomcar_nav laser_usb_bringup.launch       # mono + laser + yahboomcar

Start navigation obstacle avoidance function (robot side)

xxxxxxxxxx
roslaunch yahboomcar_nav yahboomcar_navigation.launch use_rviz:=false map:=house
  • Use_ Rviz parameter: whether to turn on rviz.
  • map：Load a map file named 'house'.

Start the radar data to point cloud node and rosbridge and other nodes (raspberry pie version)

xxxxxxxxxx
source /home/pi/ROS/laser_app/devel/setup.bash
roslaunch /home/pi/ROS/laser_app/laser_app.launch
#PI5
source /root/ROS/laser_app/devel/setup.bash
roslaunch /root/ROS/laser_app/laser_app.launch

 

Start the radar data to point cloud node and rosbridge and other nodes (Jetson nano version)

 Navigation and avoiding
Multi-machine handle control

COMPANY

  • About us
  • Team Style
  • Blog

LEARNING & EXPLORATION

  • Tutorials
  • Edge AI hardware
  • Educational robots
  • Embedded intelligent hardware

WHERE TO BUY

  • Yahboom Online Store
  • Amazon
  • Alibaba
  • AliExpress
  • Mercado

TECHNOLOGY SUPPORT

  • Email: support@yahboom.com

BE A DISTRIBUTOR

  • Email: sales@yahboom.com
QR Code
QR Code

Copyright © 2017-2026 Yahboom. All Rights Reserved.

EN/中文