ROSKY2 Smart Mobile Platform

What this kit teaches

Course outline

01 What is the Robot Operating System? (3 class periods)

Unit content

• Overview of Robot Operating System (ROS) 1
• Overview of Robot Operating System 2 (ROS 2)
• Should you use ROS 2 now?
• How do you install ROS 2?
• Ready to start your ROS 2 learning journey?

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 1

02 Getting started with ROS 2 and structuring your ROSKY2 robot project (3 class periods)

Unit content

• The ROSKY 2 mobile robot
• Connecting to ROSKY 2 remotely
• Programming and operating tools used in this manual
• Installing the ROS 2 build tools
• Creating a ROS 2 project

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 2

03 Building basic nodes with Python (2 class periods)

Unit content

• Writing a node in Python that prints “Hello World”
• ROS 2 and the command line interface
• Exploring Turtlesim—the first ROS 2 tutorial example
• ROSKY 2 and Turtlesim

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 3

04 Creating ROS 2 publisher and subscriber nodes (2 class periods)

Unit content

• Introduction to publishers, subscribers, topics, and msg files
• Python and publisher nodes
• Python and subscriber nodes
• Building packages and applications

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 4

05 Creating ROS 2 server and client nodes (2 class periods)

Unit content

• Introduction to servers, clients, services, and srv files
• Python and servers
• Python and clients
• Building packages and applications

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 5

06 Custom ROS 2 message interfaces (3 class periods)

Unit content

• What is a ROS 2 message interface?
• Creating a ROS 2 message interface package
• Creating a custom message interface
• Building packages and applications
• Challenge: using a custom ROS 2 message interface

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 6

07 Integrated example applications—Turtlesim (2 class periods)

Unit content

• Writing a publisher node to remotely control Turtlesim
• Writing a client node that calls Turtlesim services
• Getting the Turtlesim pose at a fixed rate

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 7

08 Advanced challenges—Turtlesim (1 class period)

Unit content

• Moving Turtlesim to a specified pose
• Cloning Turtlesim at a fixed rate

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 8

09 ROS 2 and the parameter server (3 class periods)

Unit content

• What are ROS 2 parameters?
• Viewing the mobile robot’s parameters
• Declaring ROS 2 parameters in a node with Python
• Getting the mobile robot’s parameters in a node with Python
• ROS 2 parameters and YAML files

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 9

10 ROS 2 and action services (2 class periods)

Unit content

• Introduction to action servers, action clients, actions, and action files
• Custom ROS 2 message interfaces
• Writing a publisher node to move the mobile robot
• Designing a ROS 2 action service

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 10

11 ROS 2 and launch files (2 class periods)

Unit content

• What is a launch file?
• Formats supported by launch files
• Writing ROS 2 launch files with Python

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 11

12 Integrated example applications—mobile robot (1 class period)

Unit content

• Controlling the mobile robot with the keyboard and recording odometry
• Wall following with the mobile robot while recording odometry

Matching materials: “ROS2 Complete Self-Study Manual,” Chapter 12

The course outline is based on the CIRCUS Pi teaching manual. Class period counts are estimates and can be adjusted to fit your class.

Hardware specifications

Single-board computer	NVIDIA Jetson Nano Developer Kit (2nd generation)
GPU	128-core NVIDIA Maxwell™
CPU	Quad-core ARM A57 @ 1.43 GHz
Memory	4 GB 64-bit LPDDR4 25.6 GB/s
Storage	microSD (card not included)
Video decoder	4Kp60 | 2x 4Kp30 | 8x 1080p30 | 18x 720p30 (H.264/H.265)
Connectivity	Gigabit Ethernet, M.2 Key E
Camera	2x MIPI CSI-2 connectors
Display	HDMI and DP
USB	4x USB 3.0, 1x USB 2.0 Micro-B
Other	‧ 40-pin header (GPIO, I2C, I2S, SPI, UART) ‧ 12-pin header (power and related signals, UART) ‧ 4-pin fan header
Mechanical specifications	100 mm x 80 mm x 29 mm
Operating system	Xubuntu 20.04 Focal Fossa L4T R32.3.1 ROS2 – Foxy Python: 3.8.10
Camera lens	‧ Resolution 3280*2464 ‧ Size 25*24 mm ‧ Camera parameters ‧ CMOS 1/4 inch ‧ Aperture (F) 2.35 ‧ Focal length 3.15 mm ‧ FOV 160 degrees ‧ Distortion <14.3%
LiDAR	‧ Scan frequency 6 Hz~12 Hz ‧ Ranging distance <10 m ‧ Ranging frequency up to 5 kHz
Motors	Metal gear motors (with encoders) ×4, rated voltage 6 V, torque 1.5 N.m, gear ratio 1:90
Motor controller board	‧ USB / TTL (UART) ‧ Input voltage: 10.8 V~16 V ‧ Controls 4 motors, encoder-equipped or standard DC ‧ 6-axis accelerometer ‧ 12 V/2 A power output port ×1 ‧ 5 V/4 A power output port ×3 ‧ 3.3 V/2 A power output port ×1
Chassis	Aluminum alloy chassis (quick-release magnetic latch base plate)
Accessories	‧ Cat 5e Ethernet cable ‧ Intel8265AC wireless card (includes 20 cm cable and antenna) ‧ Precision hex key set (7 pieces) ‧ HDMI female to VGA male adapter cable ‧ 12.6 V 2 A lithium battery charger ‧ 18650 lithium battery 3400 mAh ×3
Vehicle dimensions	About 200 x 210 x 160 mm (LxWxH)
Box dimensions	About 384 x 276 x 208 mm (LxWxH)

Features

The ROSKY Smart Mobile Platform was a selected teaching material for the 2020–2022 “Taoyuan ROS Summer School Robotics Summer Course.” It is a teaching kit well suited to ROS learners, and the ROSKY 2 is the version compatible with ROS Summer School.

• Jetson Nano 4 GB: faster processing and stronger performance
• YDLIDAR X4: scans to build maps, enabling navigation and obstacle avoidance
• IMX219-160 camera: enables visual recognition
• Aluminum alloy shell: improves the platform’s durability
• Mecanum wheels: give the chassis a complete motion-constraint model for control

Training events

2020 Taoyuan ROS Summer School Robotics Summer Course

2021 Taoyuan ROS Summer School Robotics Summer Course

2022 Taoyuan ROS Summer School Robotics Summer Course

Videos