Imported from GitHub: rganlath3/DarkPassenger · commit 3057db5 · license CERN-OHL-S-2.0

Description

A roomba chassis modded into a ROS learning platform with modular capability tower design.

README

Dark Passenger

A modular payload for use as a ROS learning platform. Each floor of the chassis delivers different capabilities. The initial design is mounted on a differential drive roomba with plans to expand to treaded or quad-coptor platforms.

About The Project

The idea was to reuse a cheap roomba to create a platform for learning ROS2 and sensor integration. The end goal is to have a project incorporate aluminum extrusion chassis, working with acrylic, ESP32-S3, KiCAD PCB Development, stepper motors, thermal camera, depth camera, LIDAR, slip rings, DC motor controllers, encoders, 3D printing, INS sensor fusion, relays, GPS, SLAM, NAV2 (navigation stack) and power distribution.

Design Tools & Requirements

Software Requirements

• VS Code (Programming IDE)
• Autodesk Fusion360 (Free CAD Software)
• KiCAD 9.0 (Open Source PCB Design Software)
• Ultimaker Cura (Free 3D Slicing Software)

Hardware Requirements

• Raspberry Pi 5
• 32GB+ SD Card
• 1x Dewalt 20VDC 2Ah Battery

Hardware Development

Bill of Materials

Coming Soon

Hardware Used

Chassis

• 2020 T Slot Aluminum Extrusion
• 2020 2-Way Corner Brackets
• 2020 3-Way Corner Brackets
• M5 T Nuts and Screws
• 8x10 Black Translucent Acrylic Sheets 1/8" thick.

Floor 1

• 2x DROK Step Down Voltage Regulator
• 2x 3V Relay Modules
• 1x Custom Power Distribution PCB
• 1x Custom ESP3 GPIO PCB
• 1x ESP32-S3-N8R2
• 1x COB LED Strip Yellow
• 1x COB LED Strip Red
• 1x Cytron Dual Channel 10A DC Motor Driver
• 1x Quick Disconnect 12Pin Connector
• 1x MPU9250 IMU
• 1x GY-NEO6MV2 GPS Module

Floor 2

• 2x Acer USB Powered Hub
• 1x Raspberry Pi 5 (SBC)
• 1x Respeaker Microphone Array
• 1x ZED Stereo Labs Depth Camera

Floor 3

• 1x A1M8 RPLIDAR LIDAR Sensor
• 1x GPS Antenna

Floor 4

• 1x Custom ESP3 GPIO PCB
• 1x ESP32-S3-N8R2
• 1x Taidacent Hollow Slip Ring (Maybe 2x)
• 1x 5mm Flange Coupler
• 2x TMC2209 V1.3 Stepper Motor Driver
• 2x NEMA 17 Stepper (2A, 59Ncm), 48mm
• 1x Chameleon Camera Teledyne CM3-U3-13S2C-CS
• 3x 3V Relay Modules
• 1x MDD3A Dual Channel 3A DC Motor Driver
• 1x NERF Gun Gearbox
• 1x Laser Diode, 5V 1mA
• 1x COB LED Strip Yellow
• 1x 5V or 12V Cooling Fan

Misc

• Various Capacitors, Resistors, SMD LEDs, JST Connectors, Wire Crimps, etc.
• Various stranded wire lengths and colors: 16AWG, 22AWG.
• 1x 2.1mm DC Barrel Jacks Pair (Power Input)
• 1x SPST 20A Heavy Duty Toggle Switch (Projector Power and Pi Power)
• 2x SPST 5A Mini Toggle Switch (LED Power)
• 3D Printer: Creality CR-10SProV2

Internal Block Diagram

Electrical Interconnect Diagram

Electrical Interconnect Diagram

PCBs

Power Distribution PCB

This PCB is used to stack 2x DC-DC converters below and a voltage cutoff board on the top. This PCB distributes power from battery inputs to get converted to 12V and 5V. It interfaces with the following components:

• Up to 2x 2Ah Dewalt Batteries
• Voltage Cutoff CCA (TBD)
• 20VDC to 5VDC Converter (TBD)
• 20VDC to 12VDC Converter (TBD)
• 3x Powered USB Ports
• Spare I2C

Base MCU PCB

This PCB is used to interface an ESP32-S3 with the following components:

• GPS Module (GY-NEO6mV2)
• MPU9250 IMU
• Spare I2C
• 2x Toggle Switches
• Neopixel Strip
• 2x Spare GPIOs
• External Reset
• 2x Channel Motor Driver (MDD10A)
• Battery Scaled Input
• Motor Encoders
• FWD LED Relay
• AFT LED Relay
• 5V Distribution

Turret MCU PCB

This PCB is used to interface an ESP32-S3 with the following components:

• GPS Module (GY-NEO6mV2)
• MPU9250 IMU
• Spare I2C
• Neopixel Strip
• External Reset
• 2x Channel Motor Driver (MDD3A)
• 2x NEMA17 Stepper Motors
• 2x TMC2209 Stepper Driver
• Laser Relay
• Turret LED Relay
• Cooling Fan Relay
• 5V Distribution
• 12V Distribution

Power Budget and Power Draw

TBD

Software Development

TBD

Getting Started

TBD

Prerequisites

TBD

Installation

TBD

Common Issues

TBD

Assets

TBD

Roadmap

• [] TBD

Contributing & Donations

Any donation helps to support parts for future open source projects! Buy Me a Coffee ☕

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

License

The contents of this project itself is licensed under CERN-OHL-S-2.0 and the underlying source code is licensed under GNU GPLv3. Both of these licenses require attribution.

Contact

Ranil Ganlath - [email protected]

Project Link: TBD