3D Printed ROS SLAM Robot
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A 3D-printed differential-drive robot that runs on ROS 2 (Foxy) and uses an RPLiDAR A1 to autonomously map and navigate a room via SLAM (Simultaneous Localization And Mapping).
Two 12V planetary-gear DC motors (19.2:1 ratio) drive the wheels through a custom Fusion 360 chassis, closed-loop controlled via an Arduino Mega 2560 running a PID controller against incremental rotary encoders. An NVIDIA Jetson Nano (Ubuntu 20.04, ROS 2 Foxy) handles odometry, the slam_toolbox SLAM pipeline, and Nav2 autonomous navigation, communicating with the Arduino over serial (SerialTransfer library). The design also includes an optional 3D-printed robotic arm and camera mount.
Inspired by James Bruton's ROS SLAM robot build, but designed and built from scratch by the original author.
Source: github.com/pliam1105/3D-Printed-ROS-SLAM-Robot Creator: Panagiotis Liampas (@pliam1105) License: MIT
This orobot.io program is a learning entry point derived from the open-source project above. Full ROS 2 packages, Arduino firmware, Fusion 360 CAD source, and build media are in the source repository — this program packages the design for browsing, printing, and BOM reference; it does not run the full ROS 2/Nav2 stack on orobot.io.
🖨 Druckdateien (12)
Chassis.stl
Wheel.stl
Gear.stl
MotorMount.stl
EncoderMount.stl
CasterWheelMount.stl
Benötigte Hardware
| Item | Qty | Approx. Unit Cost (USD) | Notes |
|---|---|---|---|
| RPLiDAR A1 | 1 | $100 | 360° 2D LiDAR, USB, ~12m range |
| NVIDIA Jetson Nano (dev kit) | 1 | $150 | Ubuntu 20.04 + ROS 2 Foxy, runs SLAM/Nav2 |
| Arduino Mega 2560 | 1 | $20 | Motor + encoder control, serial link to Jetson |
| Planetary gear 12V DC motor (19.2:1) | 2 | $25 | Drive motors |
| BTS7960 motor driver | 2 | $8 | H-bridge for each drive motor |
| Incremental rotary encoder | 2 | $5 | Odometry + PID feedback |
| 12V 3S Li-Po battery | 1 | $25 | Powers the drive motors |
| LM2596 step-down module | 1 | $3 | 12V → 5V for encoders |
| USB power bank (for Jetson Nano) | 1 | $20 | Or a dedicated battery/charger |
| Aluminum extrusion (2x, chassis rails) | 2 | $10 | Structural rails between plates |
| Ball caster wheel | 1-2 | $5 | Rear/front support |
| Connecting rod (wheel axle) | 1 | $5 | Connects the two drive wheels |
| Assorted M3 screws, nuts, standoffs | — | $10 | Fasteners for assembly |
| PLA/PETG filament | ~1.5 kg | $25 | Chassis, mounts, gears, wheels, arm |