NexvioraDocumented target: Ubuntu 24.04 · ROS 2 Jazzy · Gazebo Harmonic where used. Browser labs tested; ROS/Ubuntu/hardware execution not performed here.
What you will understand
- Check manufacturer-backed compatibility.
- Separate logic/motor power.
- Plan staged commissioning.
Prerequisites: Plan a route and supervise a mission and its stated environment.
The idea, made clear.
Match supply voltage, current capacity, logic levels and connectors using manufacturer documentation. Example code does not prove compatibility with a different motor or battery. Part numbers and revisions belong in the project record.
The hardware project uses a documented Romi chassis and matching Romi 32U4 board. Integrated drivers reduce custom wiring, but battery chemistry, polarity, jumpers and routing still matter. A companion computer requires an appropriate supply; do not assume motor power can safely feed its GPIO.
Inspect unpowered wiring first, then logic communication, then brief low-power lifted-wheel tests. Provide a reachable motor-power disconnect before floor tests. This site supplies a reviewed learning plan, not a claim of physical assembly, certification or safety validation.
For the documented Romi combination, six AA NiMH cells provide 7.2 V nominal. The control-board limit is 10.8 V, not a suggested supply setting. USB can keep logic powered with the motor switch off. Disconnect both sources for wiring and use a chemistry-matched charger; never assume the board charges installed cells.
Try it, step by step.
Review exact parts
Read the hardware project and current manual.
Expected: Part numbers, revisions and voltage/current evidence.
Trace power while disconnected
Identify battery holder, board input, switch and motor outputs.
Expected: A diagram matching the manufacturer circuit.
Define communication
Design example only, not supplied firmware.
command: {left_rad_s: 0.0, right_rad_s: 0.0}
feedback: {left_ticks: 0, right_ticks: 0}
policy: stop if commands expireExpected: Units, limits, neutral startup and a timeout policy.
If something goes wrong
- Resets when motors start
- Investigate supply sag and load with power safely removed.
- Moves on startup
- Require neutral outputs and explicit enable; test lifted wheels.
Check your understanding
Make it yours
Create a reviewed commissioning checklist with disconnect and pass/fail criteria.
Optional progress stays in this browser. No account needed.
Go to the source documentation
Commands are educational examples for the stated environment, not a transcript of local ROS execution. Verify actual behavior on your machine.