POST No. 2406761
Turtlebot3 Waffle PI Convert to use UP board and R200 camera
2018-04-12 07:56:46 kurteck

I am thinking of converting my Turtlebot3 Waffle PI into a Waffle UP board.  In particular, I purchased an UP board along with R200 camera, like what was used on the original Waffle board. 


I am guessing that this should be very doable, but my guess is I will run into some unforeseen issues.  I would appreciate any suggestions any one has toward doing this


Some of my current thoughts include:


Hardware wise: Replacing RPI3 with UP board – Pretty easy as same form factor.  May have some issues to look at as it comes to USB wire placements.  Also need to add Wifi adapter and possible BT.


Wondering which UP board to use?  I have the UP that came with the RealSense development kit which has a fan on it, or I have another one with Heatsink.  I would prefer the one with Heatsink (less energy and noise) But wonder if the camera processing may cause the board to work harder and hotter?


Setting up the UP board – use the same instructions as for the Intel Joule board for Ubuntu and ROS. 

2018-04-12 07:56:46
2018-04-12 10:41:35 Will Son


We had tested Up board and Realsense on TurtleBot3, but we had to have additional wifi module.

Depending on the power requirement, you need to make power cable to supply power from OpenCR to Up board.

Please refer to the eManual for available power source from OpenCR1.0.

For installing Ubuntu, you may follow the instruction for TurtleBot3.

If you want to discuss more about your project, you can use Robot Source community :)

I personally prefer having active cooler(fan) rather than passive heatsink just because I like to keep cooling boards.

Good luck on your project!

2018-04-13 05:04:27 kurteck

I went ahead and created thread on Robot Source... https://community.robotsource.org/t/convert-a-turtlebot3-waffle-pi-to-use-up-board-with-r200-camera/1397
2018-04-13 05:04:27
2018-04-12 10:41:35
2018-04-12 11:56:33 Kurt

Additional part of original message, that the forum would error on: Mounting R200 camera?

 Looks like there were brackets for this that were part of the original Waffle board. Probably not hard to 3d print something?

Is there already 3d parts, that I can download for this?

Wonder for ROS if it would make sense to have the UP board be the master node? i.e. run roscore? I will probably start off that way, as then I would only need to boot up my Desktop linux box when I wanted things like RVIZ…

2018-04-12 11:56:33
2018-04-13 09:23:56 Will Son

There's an L shaped R200 bracket for Waffle as shown in the below image.

You can find the 3D modeling data from TurtleBot3 eManual.
I think running ROS master on TurtleBot3 is better as network can sometime be unreliable.

2018-04-13 09:23:56
2018-04-13 23:24:18 Kurt

Thanks,  yesterday I created an OnShape account and then downloaded that part... Tried a few different exports, until I found one that looked pretty good in Fusion 360.

However when I tried 3d printing it on my printer, it did not come out too good.  All of the Ins and outs on both sides of it, did not come out very well... So will probably make a simplified version, where I remove some of the indents, which should print a little cleaner.   Also will look up on Robotis Store to see if some of these parts like the rivets are for sale...  At some point later may look to see if these 3d parts are setup to be printed by pro printers, as may later wish to try a Tank. :D

Edit: Thought I would mention, my simple 3d print first attempt was not much better, but also did find the parts at the US store although they were out of black, so will start with White one....

2018-04-13 23:24:18
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