ROS Programming: Building Powerful Robots

The base plate

Following figure shows the base footprint of our robot:

Figure 1: Base plate of the robot

The preceding figure shows the base footprint of our robot. You can see that it is circular and there are two slots on the left and right for attaching motors and wheels. M1 and M2 are the positions of the motor body, and the shaft will be in the slots. The motors can be put on the top of the plate or on the bottom. Here, we are attaching the motors to the bottom of this plate. The wheels should be inside these two slots. We have to make sure that the slot length is greater than the wheel diameter. You can see C1 and C2, which are the positions ...