This repo contains:

• Arduino ESP32 robot firmware for the ESP32 breakout board
• Robot's lower body extension module firmware
• Robot's head extension module firmware
• all libraries necessary to build the sketch
• ESP32 sketch data upload tool

Please visit the Support Forum!

List of supported LiDAR/LDS sensors is here.

• download the latest code by Code -> Download ZIP on this page
  • alternatively, download the latest or an older release by clicking Releases on this page; click on Assets -> Source code to download the firmware
• open the downloaded ZIP file
  • navigate inside the "firmware-xxx" folder
  • copy everything inside the "firmware-xxx" folder to your Arduino sketch folder. That includes both the Arduino sketch and the libraries folder.
• watch the video below to
  • install the ESP32 tool chain version 2.0.17 (NOT 3.0.x)
  • ignore Arduino IDE library installation in the video
  • build, upload firmware
  • upload sketch data
• follow the configuration instructions on this page

Once you have uploaded firmware and the sketch data) to your Kaia.ai-compatible robot:

• wait for your robot to enter the AP (WiFi access point) mode
  • the robot enters the AP (WiFi access point) mode whenever the robot fails to connect to WiFi
• Alternatively, force your robot to enter the AP mode by performing a "factory reset":
  • Press the "EN" (reset) button on your ESP32 board.
  • Next, immediately after that (within 1 second) press the ESP32 "BOOT" button and hold it for 10+ seconds.
  • The ESP32 board LED will blink fast.
  • Release the "BOOT" button once the ESP32 board LED stops blinking.
• connect to your robot's WiFi (MAKERSPET)
• navigate your browser (PC or mobile handset) to 192.168.4.1
• configure your robot and its WiFi connection:
  • input your WiFi name, password
  • select your robot's model
  • select your robot's laser sensor from the list of supported LiDAR/LDS
  • select your robot's motor model
• press the "Configure and Connect" button
  • disconnect from your robot's WiFi and reconnect back to your own WiFi

This blog post discusses the configuration in more detail.

• BLDC motors with these specifications should (generally) work:
  • 9..24V voltage (higher voltage increases efficiency)
  • models JGA25-2418, JGA25-2430; 24.4mm outer diameter
  • ~190..450 no-load (max) RPM, ~140..350 rated RPM
  • JST SH 1.0mm 5-pin connector on the back (PWM, CW/CCW, VMOT, GND, FG)
  • built-in BLDC driver and encoder
  • ~0.5..1.5 Kg*cm rated torque
• Examples
  • CHR-GM25-BL2418 24V 200RPM 270PPR
  • JGA25-BL2418 24V 245RPM 630PPR
  • CHR-GM25-BL2418 24V 260RPM 204PPR
  • JGA25-BL2418 24V 408RPM 127.8PPR
  • CHR-GM25-BL2418 24V 450RPM 120PPR

• Brushed motors with these specifications should (generally) works
  • 9..24V voltage (higher voltage increases efficiency)
  • GA25-370 size; 24.4mm outer diameter
  • ~190..450 no-load (max) RPM, ~140..350 rated RPM
  • quadrature encoder (e.g. outputs two signals: ENC_A and ENC_B)
  • 6-pin connector (VMOT+, VMOT-, ENC_A, ENC_B, VENC+, GND)
• N20 motors
  • can be connected, but not recommended due to their low power
• a compatible motor driver is required when using brushed motors
  • TB6612FNG max 13.5V, max 1.2A average per motor; one TB6612FNG controls two motors
  • L298N supports 24V, max 2A average per motor; one L298N controls two motors
  • DRV8871 supports 24V, max 3.6A peak; one DRV8871 controls ONE motor
  • DRV8833, DRV8835 (IN/IN mode)

• AliExpress
• Ebay
• Amazon
• online robotics specialty stores
  • robotshop.com
• in India
  • robu.in, zbotic.in, robokits.co.in, robocraze.com, roboticsdna.in, probots.co.in, roboindia.com, flipkart.com, digikey.in, mouser.in, in.element14.com

• choose a motor with a minimum rated torque of ~0.5Kg*cm (a guess). Your motor must have enough torque
  • to accelerate the weight of your robot reasonably quickly, let's say 2lbs or so
  • to drive over thick carpet, floor mats, etc.
• for the given rated torque, choose a motor with the highest RPM
  • the higher the motor RPM, the faster your robot can drive
• we recommend 24V BLDC ~400 RPM motors, e.g. JGA25-BL2418 24V 408RPM 127.8PPR
  • these motors are fast, powerful and (generally) long-lasting
• 12V BLDC ~300 RPM is the second choice
  • often 12V BLDC offer less torque at the same RPM compared to 24V BLDC motors
• if you cannot get a BLDC motor, get yourself a brushed GA25-370 motor with encoder
  • this motor is (generally) less powerful compared to the recommended BLDC motors
  • brushed motors (generally) do not last as long as BLDC motors
• if you cannot get a GA25-370 motor, you can use N20 motors as the last resort
  • N20 motors have considerably less torque compared to the recommended motors
  • However, some N20 motors with low RPM (e.g. <=100RPM) do offer sufficient torque

• MAKERSPET_MINI works
  • tested with YDLIDAR SCL, LDROBOT LD14P

• motor driver
  • brushed motor support: drivers TB6612FNG, LM298N, DRV8871 and others with same IN1, IN2 control input logic
  • N20 motors supported
  • quadrature encoders
  • reverse motor direction, reverse motor encoder - for wiring convenience
• web configuration
  • additional options including PID, motor drive type, motor encoder type
  • LiDAR scan frequency option
  • automatically loads values from previous configuration
• ROS properties
  • motors: get max RPM, derated max RPM, target RPM, current RPM
  • motor encoders: get current value, get/set PPR (pulses per revolution), get TPR (ticks per revolution)
  • motor PID: get/set Kp, Ki, Kd, update period, PID mode on-error vs. on-measurement
  • robot base: get model name, base diameter, tire diameter, wheel base
  • LiDAR: get current scan rate, LiDAR model,
• code refactored into separate files for readability
  • motor controller code moved into its own library
• added support for YDLIDAR SCL
• set micro-ROS client key using ESP32 MAC for smoother micro-ROS reconnect
• refactored code into separate files

• added Delta-2A 230400 baud version (vs old 115200 baud)
• added Delta-2B
• added motor voltage to configuration
• added Camsense X1

• moved from KaiaaiTelemetry to KaiaaiTelemetry2 message
  • added battery voltage telemetry
  • added WiFi RSSI telemetry
• added LDROBOT LD14P laser distance scan sensor
• included all library dependencies in library/ to make the code self-contained
  • do not use Arduino IDE Library manager
  • instead, just copy everything to your Arduino sketch folder
• included the ESP32 sketch data upload tool in tools/

• added 3irobotix Delta-2A, Delta-2G
• library version dependencies
  • LDS v0.5.0
  • ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
  • micro_ros_kaia v2.0.7-rolling.3
  • PID_Timed v1.1.2
• requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-11-2024 or kaiaai/kaiaai-ros-dev:iron-02-11-2024

• added LiDAR/LDS laser distance scan sensors support
  • YDLIDAR X3, X3-PRO
  • Neato XV11
  • SLAMTEC RPLIDAR A1
• library version dependencies
  • LDS v0.4.0
  • ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
  • micro_ros_kaia v2.0.7-rolling.3
  • PID_Timed v1.1.2
• requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-05-2024 or kaiaai/kaiaai-ros-dev:iron-02-05-2024

• initial release
• supports sensors
  • YDLIDAR X4, X2/X2L
  • LDS02RR
• robot model configuration via web browser
• requires libraries
  • LDS v0.3.1
  • PID_Timed v1.1.2
  • micro_ros_kaia 2.0.7-rolling.3
  • ESPAsyncWebSrv v1.2.7
• requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-01-28-2024 or kaiaai/kaiaai-ros-dev:iron-01-28-2024

• updated to match PID_Timed v1.1.0 library
  • PID_Timed v1.1.0 replaced constant #define with class constants to fix namespace collisions
• added LDS library as dependency
  • refactoried and moved YDLIDAR X4 into LDS library
  • added support for Xiaomi 1st gen LDS02RR laser distance scan sensor
• started moving #define constants into CONFIG class to clean up namespace
• added motor choices
• miscellaneous cleanup

• BREAKING ESP32 pinout assignment change to support the newly ESP32 breakout board
  • the new ESP32 breakout board works
  • the motor pin change fixes the "motor kick" upon ESP32 hard reboot
  • the LDS pin change fixes the LDS motor enabled by ESP32 upon hard reboot
  • MOT_FG_RIGHT has changed from GPIO27 to GPIO35_IN
  • LDS_MOT_EN has changed from GPIO12_OUT to GPIO19
  • MOT_CW_LEFT has changed from GPIO32 to GPIO23
• requires micro_ros_kaia Arduino library version 2.0.7-any.3 minimum
• added ROS2 parameter server
  • works successfully
• added lds.motor_speed parameter
  • controls the laser distance sensor motor speed
  • type double; set lds.motor=0 to stop LDS motor; set lds.motor=1.0 for maximum speed
  • set lds.motor=-1.0 for LDS default motor speed
• added minimum micro_ros_kaia library version check
  • Arduino build errors out at compile time if the library version is too old
• renamed some #define symbols from YDLidar-specific to generic LDS

• Arduino libraries:
  • micro_ros_kaia
  • LDS
  • PID_Timed
  • ESPAsyncWebSrv including AsyncTCP
• ESP32 sketch data upload tool