MOdular MObile (MOMObot) Robot Documentation

Version 1.1

Credits

This documentation has been put together with the combined efforts of members of the SUTD Organisation of Autonomous Robotics

V1.0: 2018 - 2019

• methylDragon
• Shine16
• Fasermaler
• imossim
• Bryan Kong
• Low En
• Senrli

V1.1: 2019 - 2020

• Photon
• robobdo
• Jia Hwee
• Jerremy
• darthnoward

Introduction

MOMObot is a service AGV built for extensibility and to roam autonomously using ROS!

Table Of Contents

1. Hardware
   1.1 Dimensions
   1.2 Specifications
   1.3 Gotchas, Hacky Stuff and Things to Take Note Of
   1.4 To Dos
2. Electronics
   2.1 Electronic BOM
   2.2 Start-Up, Shut-Down Procedure
   2.3 Gotchas, Hacky Stuff and Things to Take Note Of
   2.4 Circuit Diagrams
   2.5 Motor Tuning
   2.6 PID Tuning from the MOMObot side
3. Software
   3.1 Pre-Requisites
   3.2 Setting Up MOMObot
   3.3 Running MOMObot Capabilities
   3.4 Tuning MOMObot
   3.5 Console Commands
   3.6 Mapping
   3.7 Exporting Display to MOMObot from Computer
   3.8 Semantic Pose and Semantic Pose Sounder Packages
   3.9 Software To-Dos