Ricbot: Difference between revisions
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5V 5A: [https://www.aliexpress.com/item/1005008100990014.html?algo_exp_id=808ac6eb-4bfe-4ac4-a422-35a7cb0fd327-20&pdp_ext_f=%7B%22order%22%3A%22-1%22%2C%22eval%22%3A%221%22%2C%22fromPage%22%3A%22search%22%7D&pdp_npi=6%40dis!DKK!26.16!18.33!!!4.01!2.81!%402103890117656074573735161e95c5!12000043748989192!sea!DK!0!ABX!1!0!n_tag%3A-29910%3Bd%3A8bdbd77d%3Bm03_new_user%3A-29895&curPageLogUid=JqIWXdlTator&utparam-url=scene%3Asearch%7Cquery_from%3A%7Cx_object_id%3A1005008100990014%7C_p_origin_prod%3A#nav-specification | Aliexpress link to device] | 5V 5A: [https://www.aliexpress.com/item/1005008100990014.html?algo_exp_id=808ac6eb-4bfe-4ac4-a422-35a7cb0fd327-20&pdp_ext_f=%7B%22order%22%3A%22-1%22%2C%22eval%22%3A%221%22%2C%22fromPage%22%3A%22search%22%7D&pdp_npi=6%40dis!DKK!26.16!18.33!!!4.01!2.81!%402103890117656074573735161e95c5!12000043748989192!sea!DK!0!ABX!1!0!n_tag%3A-29910%3Bd%3A8bdbd77d%3Bm03_new_user%3A-29895&curPageLogUid=JqIWXdlTator&utparam-url=scene%3Asearch%7Cquery_from%3A%7Cx_object_id%3A1005008100990014%7C_p_origin_prod%3A#nav-specification | Aliexpress link to device] | ||
==== DRI0042 to Regbot 4-pin PWM ==== | |||
DRI Regbot PWM | |||
7 GND (black) 1 GND | |||
4 PWM (red) 2 in1 | |||
5 IN1 (white) 3 in2 | |||
6 IN2 (yellow) 4 fault | |||
DRI | |||
IN1 IN2 PWM OUT1, OUT2 Motor Behavior | |||
0 0 x Stop | |||
1 1 x Vacant | |||
1 0 1 Forward 100% | |||
0 1 1 Reverse 100% | |||
1 0 PWM Forward at PWM speed | |||
0 1 PWM Reverse at PWM speed | |||
=== Intel RealSense === | === Intel RealSense === | ||
Revision as of 07:46, 13 December 2025
Ricbot, a wheeled sensor platform
Ricbot is intended for fast deployment to areas of interest.
Main features:
- Reused motors and wheels from an old "Elector Wheelie" platform
- Designed to fit into a normal car for deployment, i.e can be disassembled to no more than 55cm in height.
- No more than 25-30 kg, requiring 1 or 2 persons to load or unload.
- Wheel-odometry recording (and timestamped)
- Camera image recording (and timestamped), the intention is Realsense D435.
- Maybe GNSS recording too.
- Manual remote control.
Tentative layout:
Length is 1m, free height 25cm, width 65cm.
Installation notes
Cabling
DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042
Regbot 6.3: Regbot hardware board
5V 5A: | Aliexpress link to device
DRI0042 to Regbot 4-pin PWM
DRI Regbot PWM 7 GND (black) 1 GND 4 PWM (red) 2 in1 5 IN1 (white) 3 in2 6 IN2 (yellow) 4 fault
DRI IN1 IN2 PWM OUT1, OUT2 Motor Behavior 0 0 x Stop 1 1 x Vacant 1 0 1 Forward 100% 0 1 1 Reverse 100% 1 0 PWM Forward at PWM speed 0 1 PWM Reverse at PWM speed
Intel RealSense
Install
sudo apt-get install automake libtool libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev sudo apt install libssl-dev
Library and examples
cd ~/git git clone https://github.com/IntelRealSense/librealsense.git cd librealsense mkdir build cd build cmake .. make -j3 sudo make install
Copy udev rules to udev
cd ~/git/librealsense/config/99-realsense*.rules /etc/udev/rules.d/ udevadm control --reload-rules
All example commands start with rs-, e.g.:
rs-capture rs-pointcloud
