Turtlebot2i入门教程-硬件

Turtlebot2i入门教程-硬件

说明：

• 介绍Turtlebot2i涉及的相关硬件

相关硬件列表：

CPU:

• INTEL NUC – BOXNUC6CAYH
• 8GB Ram
• 120GB or better SSD
• 802.11AC WiFi / Bluetooth 4.0
• Ubuntu 16.04 / ROS Kinetic

Sensors:

• Intel RealSense 3D Camera SR300系列
• Orbbec Astra Cam
• Accelerometer/Gyro/Compass
• Edge Detection & Bumper Sensors

Mobile Robot:

• Kobuki Mobile Base
• Modular & Interchangeable Decks
• Pincher MK3 Robo Arm
• Arbotix-M Robocontroller
• Maximum translational velocity: 70 cm/s 13
• Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade)
• Payload: 2kg (without arm), 1kg (with arm)
• Cliff: will not drive off a cliff with a depth greater than 5cm
• Threshold Climbing: climbs thresholds of 12 mm or lower
• Rug Climbing: climbs rugs of 12 mm or lower
• Expected Operating Time: 4-6 hours (operating time varies depending on loadout)
• Expected Charging Time: 2-3 hours (charge time varies depending on loadout)
• Docking/Charging Station: automatic within a 2mx5m area in front of the docking station (sold separately)

参考：

• https://www.trossenrobotics.com/interbotix-turtlebot-2i-mobile-ros-platform.aspx
• http://learn.trossenrobotics.com/projects/189-turtlebot2i-assembly-guide.html