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Building an Inexpensive 3-D Printed ROS Robot | by Jason Bowling [Raspi]

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Built around a Pi4, low cost gear motors, and an RPLidar A1
 
I recently began playing with ROS in simulation, and am really enjoying it. I want a platform that I can use for experiments, particularly learning to configure a physical robot for SLAM and navigation. If you are not familiar with ROS, or have been intimidated by the steep learning curve, you might want to give my introductory article a look first.
 
I stumbled on the Weddell 2 ROS Robot by user pokpong on Thingiverse, and was very impressed. It was very close to what I was after. I couldn’t source the motors the original device used, so I made a remix of that design that was set up for inexpensive gear motors with encoders. I hope this write-up is useful if you want to do something similar. The modified files are here.

An interesting link found among my daily reading

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