LGDXRobot2

What is LGDXRobot2?

LGDXRobot2 is a mecanum wheel mobile robot designed to achieve decent performance with low-cost hardware.

Multiple Sensors Support

The robot is equipped with LiDAR, a 9-DOF IMU and wheel odometry for navigation tasks.

Full Software Stack

LGDXRobot2 includes firmware and a GUI tuning tool, and it is fully integrated into the ROS 2 ecosystem.

Step-by-Step Documentation

Step-by-step guides cover robot assembly as well as software setup and operation.

Open and Reproducible Hardware Design

LGDXRobot2 provides complete designs for both the chassis and the controller board, along with manufacturing files to support easy replication.

Chassis

240 mm × 240 mm, three-layer chassis structure made from laser-cut acrylic sheets.

Controller Board

Custom circuit board designed for the BlackPill MCU and the TB6612FNG motor driver, capable of driving four motors with PID control.

Effective Testing with ChassisTuner

ChassisTuner is a graphical tool for testing and fine-tuning LGDXRobot2 hardware, allowing you to validate your setup and optimise performance.

Hardware Testing

Verify communication with the controller and monitor the robot's status in real time.

PID Fine-Tuning

Adjust PID parameters for each motor with real-time visualisation on interactive charts.

Magnetometer Calibration

Calibrate the magnetometer and retrieve calibration data in real-time.

Scalable Robotics System with LGDXRobot Cloud

LGDXRobot2 integrates seamlessly with LGDXRobot Cloud, a robot management system that forms a solid foundation for scalable robotics solutions.

Remote Monitoring

Monitor the status of LGDXRobot2 through a real-time web interface.

Automation Task Management

Assign LGDXRobot2 to execute automation tasks, such as transportation.

Unlimited Possibilities with ROS 2

LGDXRobot2 fully supports ROS 2, enabling the development of intelligent and extensible robotics applications. It integrates with key components of the ROS 2 ecosystem, including:

RViz

Visualise the LGDXRobot2 model, motor movements, and sensor data.

Nav2

Perform mapping and autonomous navigation in real-world environments.

Gazebo / Webots

Run ROS 2 and LGDXRobot Cloud in simulation without requiring a physical LGDXRobot2.

Rapid Deployment of Remote ROS 2 Interface

LGDXRobot2 includes ready-to-use Docker images for deploying ROS 2 on any computer. Including a responsive web interface provides easy access to ROS 2 tools using the following command:

docker run -d \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -p 3000:3000 \
  -p 3001:3001 \
  yukaitung/lgdxrobot2-desktop:latest

Download

Design Files

Design files for both the chassis body and the controller board.

Github GitLab

MCU

Firmware for the controller board.

Github GitLab

ChassisTuner

A GUI tool for hardware testing and PID tuning.

Github GitLab

ROS 2 Packages

ROS 2 integration for the hardware, with examples for both physical and simulated robots.

Github GitLab

Q&A

Can I buy a prebuilt LGDXRobot2?

No, a prebuilt version is not available due to limited resources. You will need to build the robot yourself.