主要规格及技术指标

1.Core control system: ROS 1/ROS 2
2.Motion chassis: Four-wheel drive with differential steering or Ackermann steering
3.Suspension system: Swing suspension
4.Drive motors: 4x DC geared motors
5.Motor drivers: Integrated motor drive board (supports CAN or PWM control)
6.Main controller: STM32 series/ESP32
7.Perception sensors: 2D LiDAR (e.g., RPLIDAR A1/A2), RGB-D camera (e.g., Intel RealSense D435), IMU (Inertial Measurement Unit)
8.Positioning and navigation: Supports laser SLAM (e.g., Gmapping, Cartographer) and visual SLAM (e.g., ORB-SLAM3, RTAB-Map)
9.Communication interfaces: Wi-Fi, Ethernet, USB, HDMI, GPIO
10.Power system: High-capacity lithium battery (12V/24V), with a typical battery life of 2 - 4 hours
11.Expansion interfaces: Reserved USB Hub, servo interfaces, and general sensor interfaces, allowing expansion of robotic arms, GPS modules, etc.
12.Main software functions: Mapping, autonomous navigation, path planning, obstacle avoidance, target tracking, ROS basic teaching package

1.核心控制系统:ROS 1/ROS 2
2.运动底盘:四轮驱动，带差速转向或阿克曼转向
3.悬挂系统:摆式悬挂
4.驱动电机:4x 直流减速电机
5.电机驱动器:集成式电机驱动板（支持CAN或PWM控制）
6.主控制器:ESP32
7.感知传感器:2D激光雷达（如 RPLIDAR A1/A2）、RGB-D摄像头（如 Intel RealSense D435）、IMU（惯性测量单元）
8.定位与导航:支持 激光SLAM（如Gmapping, Cartographer）与 视觉SLAM（如ORB-SLAM3, RTAB-Map）
9.通信接口:Wi-Fi、以太网、USB、HDMI、GPIO
10.电源系统:大容量锂电池（12V/24V）， 续航时间通常为 2-4小时
11.扩展接口:预留 USB Hub、舵机接口、通用传感器接口，可扩展机械臂、GPS模块等
12.主要软件功能:建图、自主导航、路径规划、避障、目标跟踪、ROS基础教学包

主要功能及特色

The Robotmaster ROS pendulum suspension four-wheel drive robot is an all-terrain mobile development platform for education and scientific research. Its core features lie in the in-depth integration of the ROS open-source architecture, all-terrain mobility, and modular expansion capabilities. The robot adopts a pendulum independent suspension system and a four-wheel drive design, which can adapt to rough roads and achieve stable obstacle crossing. It is equipped with multiple sensors such as lidar, depth cameras, and IMUs, supporting the fusion mapping of laser and visual SLAM, autonomous navigation, and dynamic obstacle avoidance. In terms of hardware, it uses a hierarchical control architecture of "host computer (such as Jetson) + lower computer (STM32)". At the software level, it provides complete ROS/ROS2 function packages and development interfaces, allowing users to quickly conduct algorithm verification and secondary development. It is widely used in robotics teaching, field exploration, and the prototype development of intelligent mobile systems.

Robotmaster ROS摆式悬挂四驱机器人是一款面向教育与科研的全地形移动开发平台，其核心特点在于深度融合ROS开源架构、全地形机动性与模块化扩展能力。机器人采用摆式独立悬挂系统与四轮驱动设计，可适应崎岖路面并实现稳定越障；搭载激光雷达、深度相机及IMU等多传感器，支持激光与视觉SLAM融合建图、自主导航与动态避障；硬件上采用“上位机（如Jetson）+下位机（STM32）”分层控制架构，软件层面提供完整的ROS/ROS2功能包与开发接口，用户可快速进行算法验证与二次开发，广泛应用于机器人学教学、野外探索与智能移动系统原型开发。

主要附件及配置

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