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FictionLab Documentation

website·Indexed 33 days ago

https://docs.fictionlab.pl

Technical documentation and user manuals for FictionLab robotic platforms, including Leo Rover (v1.8, v1.9) and Raph Rover. Covers assembly guides, firmware and software updates for LeoOS and RaphOS, ROS 2 API specifications, autonomous navigation using the raph_nav package, and hardware specifications.

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What's inside FictionLab

  2. Overview of the Leo Rover Charging Station

    The Charging Station for Leo Rover (Version 1.8) allows for battery recharging without shutting down the rover. It supports autonomous docking via an integrated AR-Tag board and includes a battery level indicator. To use the station, the rover must be equipped with the modified MEB cover with charging pads (provided with the station).

  4. Overview of the legacy Turtle Rover platform

    Turtle Rover is a legacy, open-source mobile robot platform built on Raspberry Pi. It is designed for outdoor use in extreme environments due to its waterproof construction and rugged build. It supports a payload of up to 10 kg and provides open USB, I2C, and Ethernet connections for integrating off-the-shelf components. The project code is hosted on GitHub under the turtleRover organization.

  5. Overview of Leo Rover Powerbox addon

    The Powerbox module is a hardware upgrade for the Leo Rover (version 1.8) that replaces the right quarter of the rover. It expands power distribution capabilities to support additional peripherals like LiDARs, computers (e.g., Jetson Nano, Jetson Xavier NX), and robotic arms (e.g., PhantomX Pincher, WidowX). Key functional benefits include the ability to charge the battery during operation, tethered power, and seamless battery hot-swaps using a standard battery charger to maintain continuous operation.

  6. Overview of the Leo Rover Sandwich Plate addon

    The Sandwich Plate is an elevated mounting accessory for Leo Rover (Version 1.9) designed to provide additional mounting surfaces for LiDARs, cameras, and other equipment. It leverages the existing threaded inserts of the original mounting plate and allows for an elevation of either 40 mm or 80 mm above the base plate.

  7. Overview of Marvelmind Indoor GPS integration for Leo Rover

    The leo_marvelmind package allows Leo Rover to use the Marvelmind Indoor Navigation System for precise (±2cm) location data. This integration is designed for ROS 1 Noetic and utilizes the Inverse Architecture (IA), which requires stationary beacons to operate on different frequencies.

  8. Overview of Mecanum wheels for Leo Rover

    Mecanum wheels are omnidirectional wheels featuring rollers angled at 45 degrees to the axis of rotation. They allow the Leo Rover to move in any direction instantly (lateral, diagonal, and rotation on the spot) without changing its orientation. These wheels are specifically designed for indoor environments with flat ground to increase mobility or payload capacity.

  9. Overview of Leo Rover Powerbox addon

    The Powerbox module is an upgrade for Leo Rover (version 1.9) that replaces the right quarter of the chassis to provide expanded power distribution. It enables the connection of additional peripherals like LiDARs, computers (e.g., Jetson Nano, Jetson Xavier NX), and robotic arms (e.g., PhantomX Pincher, WidowX). Key capabilities include battery charging during operation, tethered power, and seamless battery hot-swaps to ensure continuous operation.

  10. Extend or customize the Raph Rover Web UI

    The Raph Rover Web UI is an open-source project built with React and TypeScript, communicating with ROS via rosbridge. The source code is available on GitHub for customization and contribution.
    GitHub Repository: https://github.com/RaphRover/raph_ui

  11. Leo Rover 1.9 Overview and Key Features

    Leo Rover 1.9 is a rugged, open-source 4x4 mobile robot development kit powered by ROS (Robot Operating System). It is designed for both indoor and outdoor deployment, featuring a watertight, sturdy construction (IP55 compliant) and is intended as a research-ready platform for robotics projects.

    Key features include:

    • Powered by Raspberry Pi
    • Up to 4 hours of continuous nominal driving
    • 12 Mpx camera with live streaming capabilities
    • Wi-Fi connectivity
    • Nominal payload capacity of up to 5 kg

  12. Understand the Leo Rover ROS node architecture

    The Leo Rover uses a set of ROS nodes defined in the leo_bringup package that run on the Raspberry Pi to provide core functionality. These nodes include:

    • rosserial: Handles serial communication with the firmware to expose features via ROS topics and services.
    • Rosbridge server: Provides a WebSocket JSON API, allowing non-ROS programs to interact with ROS functionality.
    • Raspicam: Publishes images from the Raspberry Pi camera module to ROS image transport topics.
    • Web video server: Streams ROS image transport topics over HTTP for browser access.
    • Leo system node: Enables system shutdown and reboot commands via ROS topics.