We are looking for a ROS robot design to build for our project
I am looking for a worked design for a ROS-based mobile robot for research and experimentation. I haveam looking to meet as many of these characteristics as I can:
- hardware design can be built with off the shelf parts or 3-d printing
- motors, motor controllers, wheels, the onboard computers, and other aspects have been shown to work in practice
- configuration parameters of all sorts have been figured out and work
- includes or can has been tested with Lidar and/or 3-d camera
- has big enough wheels and strong enough motors to be able to operate in any indoor environment that is AMA compliant
- has appropriate stability and center of gravity that it would support a 1m height enclosure
- ROS-based so that amcl and navigation works reliably
- could support a 10kg payload
Ok those are a lot of requirements but I think they are all pretty mainstream. We aren't looking for a pre-built robot but a design or worked example. I write this because I assume that there are many many people working with similar requirements and perhaps some design has gotten a bit of a track record. For example, the well known Turtlebot2 has an open source software, hardware and mechanical design (I believe.) It doesn't my needs due to the design of the base - small wheels and not able to move reliably over indoors floors, carpets etc. But that's the idea - a hardware, software and mechanical design that has been used successfully by more than a single team or group or company for research/experimental purposes.
I don't mean this to be a naive question but maybe it is. I am the first to admit that I have a lot to learn in this space.
What do you mean by 'just work' ? I've worked with 100k mobile robots that have still needed a fair bit of tuning and practice to get working the way you want to. This isn't a game where you can build a kit from a design and expect it to do exactly what you want from day one.
Ok, that's a fair point.. Clumsy wording. I've updated the question.