eBot Description

eBot:

eBot is a four-wheeled robot that works on a Differential drive control mechanism. eBot consists of various sensors such as encoders, 2D LIDAR, an IMU and couple of ultrasonic sensors.

2D LiDAR:

The following are the features of the 2D LiDAR sensor used in an eBot:

  1. Working range of 0.5m to 20m.

  2. Scanning angle of 270 degrees.

The LiDAR data are published on topic /scan

IMU

An Inertial Measurement Unit (IMU) is a device that can measure and report specific gravity and angular rate of an object to which it is attached.

The IMU data are published on topic /imu

Ultrasonic Sensor

An ultrasonic sensor is an instrument that measures the distance to an object using ultrasonic sound waves. We will be using it on our eBot for docking and safety purpose.

The IMU data are published on topic /ultrasonic_rl/scan and /ultrasonic_rr/scan