The LoCoBot is an ROS research rover for mapping, navigation and manipulation (optional) that enables researchers, educators and students alike to focus on high level code development instead of hardware and building out lower level code. Development on the LoCoBot is simplified with opensource software, full ROS-mapping and navigation packages and modular opensource Python API that allows users to move the platform as well as manipulator in as few as 10 lines of code.
The rover is built on the Yujin Robot Kobuki Base (YMR-K01-W1) and powered by the Intel NUC NUC8i3BEH Core i3 w/ 8gig of ram and 240g HD. An Intel® RealSense™ Depth Camera D435 sits atop an independently controlled pan / tilt mechanism (2XL430-W250-T) at the top of the platform which allows mapping and scanning. The (optional) 360 degree LIDAR can further improve both mapping and scanning for more advanced projects.
There are 3 different robot arms that can be added to the LoCoBot platform, offering 4, 5 and 6 degree of freedom options. All of the arms are based off of the X-Series servos from Robotis Co., specifically the XM430-W350-T and XL430-W250- which offer easy hardware setup, available software API’s and other ‘smart servo’ benefits.
Interbotix products are aimed at getting users up and developing on ROS as quickly as possible, which is why we've designed our platforms to ROS ready in under an hour. The robot comes pre-assembled with only minimal hardware setup and software is loaded with a few terminal commands allowing for ROS development in under an hour from receiving the LoCoBot.
ROS is an open source robotics middleware suite. Although ROS is not an operating system but a collection of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. The LoCoBot ships setup for Ubuntu 20.04 / ROS Noetic, it is also compatible with Ubuntu 18.04 / ROS Melodic and Ubuntu 16.04 / ROS Kinetic. Learn more about the ROS packages here.
Simultaneously localize and map out its environment (SLAM), generating a new map in the process, localize itself in a pre-generated map, create a 3D point cloud representation of its surroundings (viewable in Rviz), develop local and global costmaps to be used for obstacle avoidance and path planning in real time (viewable in Rviz), automatically move the base to follow the planned route, move to a desired spot specified by a mouse-click on a virtual map in Rviz
With the onboard Intel RealSense D435 camera and robotic arm, your LoCoBot can; find the transform to multiple small objects within the camera’s field of view, pick up a slew of objects in a specified order (based on distance), sort objects based on color / point cloud size / or their respective positions, allow for a researcher to dynamically tune various point cloud filter parameters using an intuitive graphical user interface.
Get familiar with your LoCoBot platform by visualizing a model of it in Rviz. Using Rviz, you can also see sensor data, monitor your LoCoBot’s progress as it navigates or does perception, and view maps. This can be done on the LoCoBot itself or from a remote computer via ROS networking.
Using accurate inertial models specified in the URDF, your LoCoBot’s dynamics can be simulated in Gazebo. Control the arm by commanding joint positions or sending trajectories to the appropriate topics. Or move the base by publishing desired speeds to the differential drive plugin.
Abstract away motion planning, inverse kinematics, and collision checking by using MoveIt to manipulate the arm on your LoCoBot. Our custom Moveit package is already fully integrated to be used with ROS Control on both the physical and Gazebo simulated robots. It can also be simulated in Rviz using MoveIt’s Fake Controller Manager plugin.
See how to use MoveIt’s Move Group Python or C++ interfaces with the arm on your LoCoBot. Pose the arm’s end-effector using a custom graphical user interface built on the Move Group’s C++ API. Or launch an interactive tutorial that moves the arm to different poses based on the Move Group’s Python API.
Get a feel for how the LoCoBot moves out of the box by controlling it via a Sony PS4 controller. With the controller, you can drive the Kobuki base, manipulate the arm in Cartesian space, or pan/tilt the camera servos. You can also use it to manually drive the robot around while mapping its environment.
Even if you are not familiar with ROS, our custom Python API can be used to get up and running with the LoCoBot platform in fewer than ten lines of code. In a single script, you can command the base to navigate to a specific point in a map, find small objects using the camera, pick them up with the arm, and drop them in a bin located somewhere else in the map.
ROS compatible 6DOF robotic manipulator has a 65cm horizontal reach from center of the base to gripper with a total span of 130cm. The working payload for the WidowX 200 arm is 250g and has an accuracy of roughly ~1mm when stationary. The WX250 arm is the perfect manipulator for picking up medium weight objects.
The WidowX 250 robot arm can operate independently of the LoCoBot (additional power supply is required). Separating the manipulator from the base of the robot will allow both platforms to be developed on simultaniously.
Constructed of 20x20 extruded aluminum and 3mm anodized aluminum plates the LoCoBot is extremely durable. The T-Slot aluminum bars have channels used to connect other bars, parts or to create mounting points for additions to the LoCoBot. Standard 20x20 post assembly T-Slot nuts can be used for easy customization of the platform.
The Kobuki platform is a low-cost mobile research base designed for education and research on state of art robotics. With continuous operation in mind, Kobuki provides power supplies for an external computer as well as additional sensors and actuators. Its highly accurate odometry and calibrated gyroscope enables extremely precise navigation.
8th Gen Intel Dual-Core i3, 8GB DDR4 Ram, 240GB Solid State Drive (SSD), Intel Iris Plus Graphics 655, Wifi, Bluetooth 5.0, Gigabit Ethernet, 4k Support, Card Reader, Dual monitor Capable, HDMI, USB, Thunderbolt 3, Ubuntu 20.04.
DC Power Bank for peripherals (manipulators, cameras, pan / tilt) Ultra High Capacity 50000mAh(3.7V)/185Wh(130W Max.). Built in multi-protection function including overload protection, over-current, low-current protection,etc. UL Certificated, UL1642 for battery cell and UL2056 for power bank safety.
The DYNAMIXEL 2XL can control two axis with a single module, which serves as the pan & tilt for the camera of the LoCoBot. This servo allows for scanning or object detection whether the platform is in motion or stationary. The 2XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability.
USB communication converter that enables to control and operate DYNAMIXEL servos (pan & tilt / optional manipulator control). It supports both 3Pin TTL connector and 4Pin RS-485 connector to link up with various DYNAMIXEL’s.
Depth camera D435 is part of the Intel® RealSense™ D400 series of cameras, a lineup that takes Intel’s latest depth sensing hardware and software packages them into easy to integrate products. Perfect for developers, makers, and innovators looking to bring depth sensing to devices, Intel® RealSense™ D400 series cameras offer simple out of the box integration and enable a whole new generation of intelligent vision equipped devices.
The RPLIDAR A2 is an indoor, 360 degree 2D LIDAR. Each RPLIDAR A2 can take up to 8000 samples of laser ranging per second thanks to its high rotation speed. The on-board system can perform 2D 360° scans within a range of 12 meters (18m with a bit of firmware adjustment). Additionally, the generated 2D point cloud data can be used in mapping, localization and object/environment modeling.
|Payload (Kobuki Base)||2kg|
|Expected Operating Time||TBD|
|Degrees of Freedom||6|