Mecanumbot

ROS Software Maintainer: Josh Villbrandt

Overview

The Mecanumbot was designed as a software research platform. It features a high-performance multi-core computer, a holonomic mobile base, a 2D laser scanner, and a Microsoft Kinect.

Hardware

• body

  • custom frame made out of MicroRax and CNC'd garolite

  • CAD files

• drivetrain
  • four 100mm mecanum wheels
  • four Devantech EMG30
  • two Devantech MD25
• power

  • two 8AHr 3S LiPos

  • wall power

  • custom power board

    • hot-swappable between all three power sources
    • power telemetry
• sensors
  • Microsoft Kinect
  • Neato Laser Scanner
  • Adafruit BMP085 pressure and temperature sensor
• computer
  • Zotac H67ITX-C-E motherboard
  • Intel Core i3-2100T 2.5GHz
  • 8GB ram
  • 256GB SSD

Applications

The Mecanumbot has never seen full-time software development, but a few proof-of-concept applications are in place.

1. Teleoperation

The teleop_xbox node takes messages from the xbox controller and publishes a cmd_vel message. Motor power is inhibited on startup for safety and needs to be powered on using the RobotHazardsEnable service. This application demonstrated the end-to-end integration of the robot's basic hardware, electronics, and software that were necessary for further development.

2. Ball Tracker

The ball_tracker node demonstrates the use of the Microsoft Kinect sensor and some basic functions from PCL. In addition to identifying the ball, the target_follower node can drive towards the target.

3. HectorSLAM

This exercise demonstrations a proper odometry and tf graph required for more complex applications like SLAM.

More Information

• http://javconcepts.com/tag/mecanumbot/

• https://github.com/joshvillbrandt/mecanumbot-ros-pkg

• https://github.com/joshvillbrandt/Mecanumbot-CAD

• https://github.com/joshvillbrandt/Mecanumbot-Power-Board

• https://www.youtube.com/user/clappro33/search?query=mecanumbot