Kobuki Turtlebot2

The mobile platform Kobuki Turtlebot II is a low-cost mobile robot for education and research. Despite the price, this product offers a high performance and is able to carry out most of advanced robotic tasks like mapping, localization, etc.

 What is it?

Low-cost mobile platform for research and education

Turtlebot compatible platform

ROS ready robot

Basic components included

The following components are included by default with the robot.

The mobile platform Kobuki Turtlebot II is a low-cost mobile robot for education and research. Despite the price, this product offers a high performance and is able to carry out most of advanced robotic tasks like mapping, localization, etc.

 What is it?

Low-cost mobile platform for research and education

Turtlebot compatible platform

ROS ready robot

Basic components included

The following components are included by default with the robot.

Kobuki Base

TurtleBot 2 Hardware (disks, poles, ...)

Battery 1x4S1P 2200 mAh 

Fast battery charger

Usb communication cable

Specifications

Functional Specification 

• Maximum translational velocity: 70 cm/s
• Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade)
• Payload: 5 kg (hard floor), 4 kg (carpet)
• Cliff: will not drive off a cliff with a depth greater than 5cm
• Threshold Climbing: climbs thresholds of 12 mm or lower
• Rug Climbing: climbs rugs of 12 mm or lower
• Expected Operating Time: 3/7 hours (small/large battery)
• Expected Charging Time: 1.5/2.6 hours (small/large battery)
• Docking: within a 2mx5m area in front of the docking station

Hardware Specfication

• PC Connection: USB or via RX/TX pins on the parallel port
• Motor Overload Detection: disables power on detecting high current (>3A)
• Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
• Gyro: factory calibrated, 1 axis (110 deg/s)
• Bumpers: left, center, right
• Cliff sensors: left, center, right
• Wheel drop sensor: left, right
• Power connectors: 5V/1A, 12V/1.5A, 12V/5A
• Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
• Audio : several programmable beep sequences
• Programmable LED: 2 x two-coloured LED
• State LED: 1 x two coloured LED [Green - high, Orange - low, Green & Blinking - charging]
• Buttons: 3 x touch buttons
• Battery: Lithium-Ion, 14.8V, 2200 mAh (4S1P - small), 4400 mAh (4S2P - large)
• Firmware upgradeable: via usb
• Sensor Data Rate: 50Hz
• Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
• Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
• Docking IR Receiver: left, centre, right

 Software Specification 

• C++ drivers for linux and windows
• ROS node
• Gazebo Simulation