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Omnidirectional manipulator ros2

Xtalism·omnidirectional-manipulator-ros2·pcb/wheels-pcb/wheels-pcb.kicad_pcb

Omnidirectional manipulator ros2 PCB layout, top view — open source ESP32 board by Xtalism

About the Omnidirectional manipulator ros2 PCB

Omnidirectional manipulator ros2 is an open source ESP32 PCB design by Xtalism, published on GitHub under the GPL-3.0 license. It is a 2-layer board measuring 86 × 78.2 mm, with 16 components from 8 distinct parts.

Its main chip is the ESP32S_38P, from the ESP32 family. Other key parts include the L293D. By type, the board carries 8 diodes, 5 connectors and 3 ICs.

It belongs with the robotics & motion designs in this gallery.

From the project

Omnidirectional Manipulator Robot developed in ROS2 (work in progress).

Omnidirectional Manipulator Robot using ROS2 and MicroROS.

You can try to virtualize it but in my experience, networking and driver problems arouse.

Inside 99-8bitdo-xinput.rules you type the following and save:

You also need to make your joystick device accesible:

We need to source, install dependencies and compile our workspace just as follows:

Installing dependencies and compiling the project:

Omnidirectional manipulator ros2, from the project README
From the project README

Main components on the Omnidirectional manipulator ros2

L293DESP32S_38P

Omnidirectional manipulator ros2 bill of materials (BOM)

16 components, 8 distinct parts.

QtyPartRefs
2
L293D
U1, U2
1
ESP32S_38P
U3
1
Motor_1
J1
1
Motor_2
J2
1
Motor_3
J3
1
Motor_4
J4
1
Conn_01x03
J5
8
1N4001
D1, D2, D3, D4, D5, D6, D7, D8

Omnidirectional manipulator ros2 design files

The KiCad project lives in the Xtalism/omnidirectional-manipulator-ros2 repository on GitHub; these links point at the commit this page was built from.

Omnidirectional manipulator ros2: common questions

What microcontroller does the Omnidirectional manipulator ros2 use?

The Omnidirectional manipulator ros2 is built around the ESP32S_38P, from the ESP32 family.

How big is the Omnidirectional manipulator ros2 PCB?

The Omnidirectional manipulator ros2 measures 86 × 78.2 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Omnidirectional manipulator ros2?

16 components, from 8 distinct parts. The full bill of materials is listed on this page.

Where can I download the Omnidirectional manipulator ros2 design files?

From the Xtalism/omnidirectional-manipulator-ros2 repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Omnidirectional manipulator ros2 design in my own project?

Yes, under the terms of its GPL-3.0 license, which Xtalism chose for the repository.

Can I test firmware for the Omnidirectional manipulator ros2 without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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