2 layers68 × 59 mm ESP32 PCB, the printed circuit board in 3D

ESP32 PCB

sudo apt update && sudo apt install locales sudo locale-gen enUS enUS.UTF-8 sudo update-locale LCALL=enUS.UTF-8 LANG=enUS.UTF-8 export LANG=enUS.UTF-8

Open in PCBKit

Size: 68 × 59 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 22
Nets: 45
Pads: 128
Tracks, vias: 270, 33
Pours: 1
Routed: Yes
KiCad: KiCad 9.0 (file 20241229)
Created: 17 Mar 2025
Updated: 24 May 2025

Overview

ESP32 PCB is an open-source printed circuit board by JOvers26, from the JOvers26/SnekBot repository on GitHub. It is a 2-layer board of 68 × 59 mm with 22 parts on 45 nets, routed with 270 tracks and 33 vias.

It is built around the ESP32-S3-WROOM-1-N8, LM1117MP-3.3 and USB4105-GF-A. Its parts include 5 capacitors, 3 resistors, 3 connectors, 2 ICs and 2 switches. It belongs with the ESP32 boards of this library.

Main components

README

README.md

SnekBot

SnekBot Arm

Six-Axis Robotic Arm and Control System for ROAR Lunar Surface Operations

This project is a work in progress and setup is subject to change.

Project Summary

SnekBot is a six-axis robotic arm designed for the QUT ROAR team to use in the Australian Rover Challenge (ARCh)

Installation & Setup

Initial Steps

Ensure Ubuntu 24.04 is flashed on the Raspberry Pi 5 and configured for remote access via SSH.

ROS2 Jazzy

1. Set Locale

Ensure your system uses UTF-8 encoding:

locale  # Check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # Verify settings

2. Enable Required Repositories

sudo apt install software-properties-common
sudo add-apt-repository universe

3. Add ROS 2 GPG Key

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

4. Add ROS 2 Repository

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

5. Install Development Tools (Optional)

sudo apt update && sudo apt install ros-dev-tools

6. Update Repository Caches

sudo apt update

7. Upgrade System

sudo apt upgrade

8. Install ROS 2 Jazzy Base

sudo apt install ros-jazzy-ros-base

9. Setup Environment

Ensure ROS 2 is sourced correctly:

# Replace ".bash" with your shell if you're not using Bash
# Possible values: setup.bash, setup.sh, setup.zsh
source /opt/ros/jazzy/setup.bash

For more details, visit the official ROS 2 documentation.

Setting up SnekBot Project

1. Clone the repository

git clone https://github.com/JOvers26/SnekBot
cd ~/SnekBot

2. Install dependencies

cd ~/SnekBot/ros2_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y

3. Install FOXGLOVE Monitoring (Optional)

source /opt/ros/jazzy/setup.bash
sudo apt install ros-$ROS_DISTRO-foxglove-bridge

4. Build the ROS2 Workspace:

cd ~SnekBot/ros2_ws
colcon build --symlink-install
source install/setup.bash

Setting up ESP-IDF

1. Install Prerequisites

sudo apt-get install git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0

2. Get ESP-IDF

mkdir -p ~/esp
cd ~/esp
git clone -b v5.2.5 --recursive https://github.com/espressif/esp-idf.git

3. Set up the Tools

cd ~/esp/esp-idf
./install.sh all

4. Set up the Environment Variables

. $HOME/esp/esp-idf/export.sh

5. Configure ESP32S3

cd ~SnekBot/ESP32_Code/int32_Publisher
pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4
idf.py set-target esp32s3
idf.py menuconfig

#In micro-ROS Settings ->
  #Set micro-ROS-Agent IP
  #Set WiFi Credentials

6. Build and flash software

idf.py build
idf.py -p /dev/ttyACM0 flash

# Note if this does not work you may need to add user to the dialout group
sudo usermod -aG dialout $USER

idf.py -p /dev/ttyACM0 flash

Install VSCode on Ubuntu

1. Install Prerequisites

sudo apt-get install wget gpg
wget -qO- https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg
sudo install -D -o root -g root -m 644 packages.microsoft.gpg /etc/apt/keyrings/packages.microsoft.gpg
echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/keyrings/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" |sudo tee /etc/apt/sources.list.d/vscode.list > /dev/null
rm -f packages.microsoft.gpg
sudo apt install apt-transport-https
sudo apt update
sudo apt install code # or code-insiders

Setting up Robotics Toolbox Python environment

1. Install Prerequisites

sudo apt install python3-venv
cd ~SnekBot
python3 -m venv venv
source venv/bin/activate

pip3 install pygame
pip3 install setuptools
pip3 install roboticstoolbox-python
pip3 install "numpy<2"

Useful Commands

Sourcing Ros2

source /opt/ros/jazzy/setup.bash

Building micro-ROS-Agent

cd ~SnekBot/ros2_ws
colcon build --symlink-install
source install/setup.bash

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

Launching Foxglove Monitoring

source /opt/ros/jazzy/setup.bash
ros2 run foxglove_bridge foxglove_bridge

Sourcing ESP-IDF

. $HOME/esp/esp-idf/export.sh

Flashing and Monitoring ESP32-S3

idf.py -p /dev/ttyACM0 flash
idf.py -p /dev/ttyACM0 monitor

Parts

Qty	Value	Footprint	References
3	0.1uF	Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C4, C8, C9
3	5.1K	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R1, R2, R6
3	MountHole	MountingHole:MountingHole_3.2mm_M3	H1, H2, H3
3	TestPoint	TestPoint:TestPoint_Pad_D3.0mm	TP1, TP2, TP3
2	10uF	Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C2, C7
2	SW_Push	Button_Switch_SMD:SW_Push_SPST_NO_Alps_SKRK	SW1, SW2
1	Conn_01x08_Pin	Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical	J2
1	Conn_01x10_Pin	Connector_PinHeader_2.54mm:PinHeader_2x05_P2.54mm_Vertical	J3
1	D_Small	Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder	D1
1	ESP32-S3-WROOM-1	RF_Module:ESP32-S3-WROOM-1	U1
1	LM1117MP-3.3	Package_TO_SOT_SMD:SOT-223-3_TabPin2	U2
1	USB4105-GF-A	USB4105-GF-A:GCT_USB4105-GF-A	J1

Questions

How big is the ESP32 PCB PCB?

It measures 68 × 59 mm and has 2 copper layers, 1.6 mm thick.

What parts does the ESP32 PCB use?

22 parts, built around the ESP32-S3-WROOM-1-N8, LM1117MP-3.3 and USB4105-GF-A. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.

Where can I download the ESP32 PCB KiCad files?

From the JOvers26/SnekBot repository on GitHub, at the commit this page was made from: the board is ESP32 PCB/Version 1/Version 1.kicad_pcb and its schematic ESP32 PCB/Version 1/Version 1.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the ESP32 PCB design in my own project?

Its repository states no licence, so its author keeps all rights: ask JOvers26 before reusing the design.

Category and platform

ESP32

Project files

Show this board on your page

A live frame, for any web page

<iframe src="https://pcbkit.io/embed/boards/jovers26-snekbot" title="ESP32 PCB in PCBKit" width="100%" height="480" style="border:0;border-radius:12px" allow="fullscreen" loading="lazy"></iframe>

A picture

<img src="https://pcbkit.io/embed/boards/jovers26-snekbot.jpg" alt="ESP32 PCB" width="1200" height="900">

A picture that opens the board, for a README

[![ESP32 PCB](https://pcbkit.io/embed/boards/jovers26-snekbot.jpg?size=s)](https://pcbkit.io/boards/jovers26-snekbot)

Source

Repository: JOvers26/SnekBot
Board file: ESP32 PCB/Version 1/Version 1.kicad_pcb
Commit: d7b38f6
Licence: Not stated

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