DiffBot

DiffBot is an autonomous differential drive robot with two wheels. Its main processing unit is a Raspberry Pi 4 B running Ubuntu Mate 20.04 and the ROS 1 (ROS Noetic) middleware. Formatted documentation can be found at: https://fjp.at/projects/diffbot/

DiffBot Control in Gazebo

roslaunch diffbot_control diffbot.launch

RViz

roslaunch diffbot_description view_diffbot.launch

Part List

Part	Store
Raspberry Pi 4 B (4 Gb)	Amazon.com, Amazon.de
SanDisk 64 GB SD Card Class 10	Amazon.com, Amazon.de
Robot Smart Chassis Kit	Amazon.com, Amazon.de
SLAMTEC RPLidar A2M8 (12 m)	Amazon.com, Amazon.de
Grove Ultrasonic Ranger	Amazon.com, Amazon.de
Raspi Camera Module V2, 8 MP, 1080p	Amazon.com, Amazon.de
Grove Motor Driver	seeedstudio.com, Amazon.de
I2C Hub	seeedstudio.com, Amazon.de

Additional (Optional) Equipment

Part	Store
PicoScope 3000 Series Oscilloscope 2CH	Amazon.de
VOLTCRAFT PPS-16005	Amazon.de