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Introduction

In the Robotics Software Engineering program at URJC, we've recently welcomed four iRobot\u00ae Create\u00ae 3 robots \u2014an event that's certainly cause for celebration!\u2014. Although the base alone comes along with lots of features, we were determined to unlock their full potential within the ROS 2 ecosystem. To achieve this, we equipped each robot with state-of-the-art sensoring and computing capabilities, including:

This alone sounds exciting enough but\u2026 How is this being attached to the base? The platform is fairly new and we had few options\u2026 So we decided to tackle the problem ourselves. And here we are! We had some requirements to meet in our design:

Decoupled Structure: Our design ensures that the system's integrity doesn't rely solely on the base payload bay. This enables us to detach the entire system for bench testing without disabling the robot itself. Furthermore, this also allows us to probably use the same arrangement in any other robot.
Common Interface: Implementing a standardized interface for all components allows for easy swapping without the need for extensive redesign. This ensures seamless integration of new components and promotes modular flexibility in our design.

That being said, let's get started with the assembly process!

Assembly

CHASSIS

The chassis is the main part where the rest of parts will be attached to. At the same time, is the only part that is physically attached to the payload bay of the robot.

iRobot Create 3 (TurtleBot4) full set (PC, Lidar, Camera) assembly

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