🛠 Hardware Specifications

This section lists the complete hardware specifications for the LIMO Pro + MyCobot + YOLO platform, including datasheets, performance notes, and compatibility information.

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🚗 LIMO Pro Mobile Base

Type: 4-wheel differential drive robot platform
Manufacturer: AgileX Robotics
Key Specs:

• Dimensions: ~322 × 280 × 130 mm
• Weight: ~8 kg
• Max Speed: 1.5 m/s
• Payload: ~5 kg
• Drive Modes: Ackermann, Differential, Mecanum, Tracked (varies by model)
• Power: 24V lithium battery, ~2–4 hrs runtime
• Sensors: Integrated IMU, wheel encoders
• ROS2 Support: Fully supported via limo_bringup package

Datasheet: AgileX LIMO Pro Datasheet

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🤖 MyCobot 280 (Wi-Fi Controlled)

Type: 6-DOF collaborative robotic arm
Manufacturer: Elephant Robotics
Key Specs:

• Payload: 250 g
• Reach: 280 mm
• Repeatability: ±0.5 mm
• Communication: Wi-Fi (converted from USB in this project)
• Control: pymycobot Python API
• Power: 12V DC
• End Effector: 2-finger parallel gripper (electric)

Special Modifications in This Project:

• USB board failure replaced with Wi-Fi control board
• Auto-IP detection in full_system.launch.py
• Voice feedback during pick/drop sequences

Datasheet: MyCobot 280 Datasheet

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🎥 Orbbec DaBai Depth Camera

Type: RGB-D camera
Key Specs:

• RGB Resolution: 1920 × 1080 @ 30 FPS
• Depth Resolution: 640 × 480 @ 30 FPS
• Depth Range: 0.15–4.0 m
• FOV: ~87° × 58° × 95°
• Interface: USB 3.0
• ROS2 Driver: orbbec_camera

Usage in This Project:

• RGB feed for YOLO object detection
• Depth feed for 3D position estimation
• Static TF to base_link published in full_system.launch.py

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💻 Onboard Computer

Suggested Config for Stable Performance:

• CPU: Quad-core ARM or x86 (e.g., Intel i5 / Jetson Orin Nano)
• RAM: 8 GB minimum (16 GB recommended)
• Storage: 64+ GB microSD or SSD
• OS: Ubuntu 20.04 LTS
• ROS2: Foxy Fitzroy

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🧩 Compatibility Information

• ROS2 Version: Foxy Fitzroy (tested & stable)
• Python Version: 3.8+
• GPU Acceleration: Optional but recommended for YOLO inference
• Networking: Requires stable 2.4 GHz Wi-Fi for MyCobot connectivity
• Nav2 Stack: Compatible with maps generated from Cartographer or RTAB-Map

Tip

Keep spare cables, a second microSD card with a pre-flashed OS, and an external power bank for field testing.