English| 简体中文

Feature Introduction

Yahboom Intelligent RKD X3 ROBOT is an intelligent robot development kit for robot developers and educational ecosystems. This kit is powered by the Sunrise X3 chip as the core computing unit and the TogetherROS.Bot as the core robot operating system, integrating functions such as mapping, navigation, human tracking, and gesture recognition. This project is the minimum functional system for the Yahboom Intelligent RKD X3 ROBOT, which can achieve basic motion control and pose feedback for the RKD X3 ROBOT. The project includes three function packages:

• yahboom_sunrise_robot_lib: Responsible for basic communication with the MCU and command conversion
• yahboomcar_base_node: Responsible for updating the robot's Odom and tf information
• yahboomcar_description: Responsible for describing the robot's mechanical structure information
• yahboomcar_bringup: Responsible for robot initialization, subscribing to motion control topics, publishing robot status description topics, and IMU information

Bill of Materials

Robot Name	Manufacturer	Reference Link
Yahboom Intelligent RKD X3 ROBOT	Yahboom	Purchase Link
RDK X3	Various Manufacturers	Purchase Link

Instructions for Use

Preparation

Refer to the Yahboom Intelligent RKD X3 ROBOT assembly video and documentation to complete the hardware assembly of the robot.

Installation

1. Connect to the robot through MobaXterm or other terminal software

2. Click on the NodeHub OriginBot project in the top right corner for quick deployment. Copy and run the following commands in the RDK terminal to install the Yahboom Intelligent RKD X3 ROBOT minimum system.

sudo apt update
sudo apt install -y tros-yahboom-sunrise-robot-lib tros-yahboomcar-bringup tros-yahboomcar-description tros-yahboomcar-base-node

Running

Start the Robot

Enter the following command in the terminal:

source /opt/tros/setup.bash
ros2 launch yahboomcar_bringup yahboomcar_nodehub_bringup_launch.py

Upon successful execution, you will see the following prompt:

root@ubuntu:~# ros2 launch yahboomcar_bringup yahboomcar_nodehub_bringup_launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-07-15-48-46-154585-ubuntu-4064
[INFO] [launch]: Default logging verbosity is set to INFO
```[INFO] [Mcnamu_driver-1]: process started with pid [4625]
[INFO] [base_node-2]: process started with pid [4627]
[INFO] [imu_filter_madgwick_node-3]: process started with pid [4629]
[INFO] [ekf_node-4]: process started with pid [4631]
[INFO] [joint_state_publisher-5]: process started with pid [4633]
[INFO] [robot_state_publisher-6]: process started with pid [4635]
[INFO] [static_transform_publisher-7]: process started with pid [4637]
[imu_filter_madgwick_node-3] [INFO] [1696664928.206501590] [imu_filter_madgwick]: Starting ImuFilter
[imu_filter_madgwick_node-3] [INFO] [1696664928.222764213] [imu_filter_madgwick]: Using dt computed from messags
[imu_filter_madgwick_node-3] [INFO] [1696664928.222977621] [imu_filter_madgwick]: The gravity vector is kept in.
[imu_filter_madgwick_node-3] [INFO] [1696664928.251886613] [imu_filter_madgwick]: Imu filter gain set to 0.10000
[imu_filter_madgwick_node-3] [INFO] [1696664928.252147777] [imu_filter_madgwick]: Gyro drift bias set to 0.00000
[imu_filter_madgwick_node-3] [INFO] [1696664928.252259252] [imu_filter_madgwick]: Magnetometer bias values: 0.00
[static_transform_publisher-7] [INFO] [1696664928.286630944] [static_transform_publisher_lRrC5ZXgWzegDUvw]: Spi'
[robot_state_publisher-6] Parsing robot urdf xml string.
[robot_state_publisher-6] The root link base_link has an inertia specified in the URDF, but KDL does not suppor.
[robot_state_publisher-6] Link camera2_link had 0 children
[robot_state_publisher-6] Link camera_link had 0 children
[robot_state_publisher-6] Link imu_link had 0 children
[robot_state_publisher-6] Link left_back_wheel had 0 children
[robot_state_publisher-6] Link left_front_wheel had 0 children
[robot_state_publisher-6] Link lidar_link had 0 children
[robot_state_publisher-6] Link right_back_wheel had 0 children
[robot_state_publisher-6] Link right_front_wheel had 0 children
[robot_state_publisher-6] [INFO] [1696664928.460429490] [robot_state_publisher]: got segment base_link
[robot_state_publisher-6] [INFO] [1696664928.461156350] [robot_state_publisher]: got segment camera2_link
[robot_state_publisher-6] [INFO] [1696664928.461358672] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-6] [INFO] [1696664928.461447143] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-6] [INFO] [1696664928.461507486] [robot_state_publisher]: got segment left_back_wheel
[robot_state_publisher-6] [INFO] [1696664928.461565078] [robot_state_publisher]: got segment left_front_wheel
[robot_state_publisher-6] [INFO] [1696664928.461622045] [robot_state_publisher]: got segment lidar_link
[robot_state_publisher-6] [INFO] [1696664928.461675970] [robot_state_publisher]: got segment right_back_wheel
[robot_state_publisher-6] [INFO] [1696664928.461731520] [robot_state_publisher]: got segment right_front_wheel
[ekf_node-4] X acceleration is being measured from IMU; X velocity control input is disabled
[joint_state_publisher-5] [INFO] [1696664930.805215712] [joint_state_publisher]: Waiting for robot_description .
[imu_filter_madgwick_node-3] [INFO] [1696664930.874444424] [imu_filter_madgwick]: First IMU message received.

Control the robot using the keyboard.

Run the following command in another terminal to enable keyboard control functionality:

sudo apt install tros-teleop-twist-keyboard
source /opt/tros/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard 

After successful execution, the following prompt appears.

This node takes keypresses from the keyboard and publishes them
as Twist messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0

Control the robot movement using the corresponding keys on the keyboard.

Interface Description

Topics

Subscribed Topics

Name	Message Type	Description
/cmd_vel	geometry_msgs/msg/Twist	Publishes velocity commands to control robot movement

Published Topics

Name	Message Type	Description
/imu/data	sensor_msgs/msg/Imu	IMU data
/imu/data_raw	sensor_msgs/msg/Imu	Raw IMU data
/imu/mag	sensor_msgs/msg/MagneticField	Magnetometer information
/tf_static	tf2_msgs/msg/TFMessage	Publishes static coordinate system information related to the robot
/tf	tf2_msgs/msg/TFMessage	Publish robot related dynamic coordinate system information
/odom_raw	nav_msgs/msg/Odometry	Robot odometer raw information
/odometry/filtered	nav_msgs/msg/Odometry	Robot odometer information

Parameters

Parameter Name	Type	Description
angular_limit	float	Angular speed limit in rad/s
xlinear_limit	float	Limit of linear velocity in the x direction in m/s
ylinear_limit	float	Limit of linear velocity in the y direction in m/s

FAQ