Description

A car robot platform based on the Yahboom Rosmaster X3-Plus mecanum chassis, customized sensors and fresh new ROS2 Jazzy software for native ubuntu 24 development (no docker) on Raspberry pi 5

Photo from the latest development stage. The robot can be controlled with PS4 joystick over bluetooth and using python and Rosmaster_Lib.

Versions

This robot will be built in stage with progressive functionalities

version	Description	Peripherals	Batteries	USB

USB Peripherals

In order to extend the robot runtime, in addition to the the 12_V motors board battery, a second USB power bank is used to power the Raspberry Pi 5 and its USB peripherals.

The Raspberry Pi 5 could draw 5V@5A profile, but the max a USB power bank can deliver @5V is 5V@4.5A which is not a big difference. We also notice that if we power the USB Hub, we can fully cover the maximum power the Raspberry Pi 5 could draw.

Without drawing power from the Pi USB, it runs at 3 W when idle and could reach a max theoretical of 15 W
Weger Power Bank 20000 mAh can deliver 22.5 W and has 5V@4.5A on x2 USB outpus and 5V@3A on USB-C
Acer USB-3 Hub draws the USB profile 5V@2.5A so a theoretical of 12.5W but in practice ~ 5.2 W would be needed

BOM

The Bill Of Material consist of the following items

chassis

Chassis with Mecanum Wheel(L)

product link
yahboom learn ROS-chassis

depth camera

The depth camera is a raw camera without a case provided by Orbbec under the name Astra Stereo S U3, Yahboom is rebranding it under the name AI View Depth Camera and did a great work in providing a metal case with an adjustable tilt very important for robotic usage.

The various naming of this camera when detecting it on USB migh be confusing as the camera is detected as two devices:

Bus 004 Device 005: ID 2bc5:0511 Orbbec 3D Technology International, Inc USB 2.0 Camera
Bus 004 Device 006: ID 2bc5:0614 Orbbec 3D Technology International, Inc ORBBEC Depth Sensor