2 layers68.6 × 53.3 mm Roomba pcb, the printed circuit board in 3D

Roomba pcb

Olin-Aero/iarc-20174

This is the primary repository for the Olin College Aero club's attempt at competing in IARC 2018.

Size: 68.6 × 53.3 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 21
Nets: 38
Pads: 72
Tracks, vias: 93, 0
Pours: 1
Routed: Yes
KiCad: KiCad 4
Created: 18 Sep 2017
Updated: 14 May 2018

Overview

Roomba pcb is an open-source printed circuit board by Olin-Aero, from the Olin-Aero/iarc-2017 repository on GitHub. It is a 2-layer board of 68.6 × 53.3 mm with 21 parts on 38 nets, routed with 93 tracks and 0 vias.

Its parts include 10 connectors, 3 resistors, 3 switches, 2 diodes and 1 capacitor.

README

README.md

This is the primary repository for the Olin College Aero club's attempt at competing in IARC 2018.

Running with Docker

Installing GPU acceleration

text

# https://nvidia.github.io/nvidia-docker/
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
  sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/ubuntu16.04/amd64/nvidia-docker.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update

# https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-1.0)
sudo apt-get install nvidia-docker

Starting the container and getting a terminal

text

nvidia-docker run -it --rm \
	--net foo \
	--name devel \
	--env="DISPLAY" \
	--env=UIUSER=(whoami) \
	--volume="/etc/group:/etc/group:ro" \
	--volume="/etc/passwd:/etc/passwd:ro" \
	--volume="/etc/shadow:/etc/shadow:ro" \
	--volume="/etc/sudoers.d:/etc/sudoers.d:ro" \
	--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
	ros:iarc-2017-devel   \
	bash

Getting more terminals

text

docker exec -it devel bash

Running GUI tools

text

docker exec devel ui rviz
# or
docker exec devel ui rqt
# .... etc

Installation instructions

This repository includes a dependency on gstreamer, a program for low-latency network video streaming. You must install it for the program to build.

text

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-* gstreamer1.0-libav* gstreamer1.0-plugins*

All other dependencies can be installed using rosdep and pip:

text

rosdep install --ignore-src --from-paths $(rospack find iarc_main)/.. -y
pip install -r $(rospack find iarc_main)/../requirements.txt

Finally, catkin_make can be used to build the code

text

cd ~/catkin_ws && catkin_make

Copy camera calibration to your ROS install

text

mkdir -p ~/.ros/camera_info && cp $(rospack find iarc_vision)/calibration/* ~/.ros/camera_info/

Useful Commands

As of 12/18/2017, the following commands are useful to run the code on an AR Drone

text

roscore
roslaunch iarc_main backbone.launch
roslaunch iarc_main ardrone_interface.launch

roslaunch iarc_vision apriltags.launch
rosrun iarc_main ardrone_keyboard.py cmd_vel:=/teleop/cmd_vel

# One of the following three...
rostopic pub /arbiter/activate_behavior std_msgs/String "teleop" -1
rostopic pub /arbiter/activate_behavior std_msgs/String "goto_click" -1
rostopic pub /arbiter/activate_behavior std_msgs/String "follow" -1

rqt
rviz
rostopic echo /ardrone/navdata/batteryPercent

rosbag record -a -x ".*image_raw\$|.*tag_detections.*"

Project files

Show this board on your page

https://pcbkit.io/boards/Olin-Aero/iarc-2017

The board's own page, for a message or a post.

Source

Repository: Olin-Aero/iarc-2017
Board file: hardware/roomba_pcb/roomba_pcb.kicad_pcb
Commit: 5ee36f9
Licence: Not stated

Parts

Qty	Value	Footprint	References
4	CONN_01X01	Socket_Arduino_Uno:Arduino_1pin	P5, P6, P7, P8
2	330	Resistors_SMD:R_0603	R2, R3
1	0.1µ	Capacitors_SMD:C_0603	C1
1	47K	Resistors_SMD:R_0603	R1
1	Analog	Socket_Arduino_Uno:Socket_Strip_Arduino_1x06	P2
1	Digital	Socket_Arduino_Uno:Socket_Strip_Arduino_1x08	P4
1	Digital	Socket_Arduino_Uno:Socket_Strip_Arduino_1x10	P3
1	LAND_PLATE	Pin_Headers:Pin_Header_Straight_1x02_Pitch2.54mm	SW1
1	LED-G	LEDs:LED_0805	D1
1	LED-R	LEDs:LED_0805	D2
1	MODE	Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm	SW3
1	POWER	Pin_Headers:Pin_Header_Straight_1x02_Pitch2.54mm	JP1
1	Power	Socket_Arduino_Uno:Socket_Strip_Arduino_1x08	P1
1	RECEIVER	roomba_pcb:Receiver_IARC	J1
1	RESET	Buttons_Switches_SMD:SW_SPST_B3U-1000P	SW2
1	TEST	Pin_Headers:Pin_Header_Straight_1x01_Pitch2.54mm	TP1
1	TO_CREATE	Pin_Headers:Pin_Header_Straight_1x07_Pitch2.54mm	J2

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Questions

How big is the Roomba pcb PCB?

It measures 68.6 × 53.3 mm and has 2 copper layers, 1.6 mm thick.

What parts does the Roomba pcb use?

21 parts. 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 Roomba pcb KiCad files?

From the Olin-Aero/iarc-2017 repository on GitHub, at the commit this page was made from: the board is hardware/roomba_pcb/roomba_pcb.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.

Can I use the Roomba pcb design in my own project?

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