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Description
60 x 60 x 46 mm
180 grams
Connection Interface:USB Type-C
Communication:USB Type C - Ethernet Over USB
Communication Protocol:ROS 1 and 2 (Virtual Ethernet / IPV4)
Rotations per Minute:64
Motor Control Pulse Frequency:1000Hz
Rotaray Position Resolution:16384
IMU Sample rate:100 Hz
Gyroscope range:+/- 2000 deg/sec
Accelerometer range:+/- 16 g
Magnetometer range:+/- 4 gauss
Gyroscope accuracy:+/- 0.05 deg/sec
Accelerometer accuracy:+/- 0.1 g
Magnetometer accuracy:+/- 0.2 gauss
Performance Metrics:Covariance Matrix
Operating Voltage: 5.0V / 9.0V / 12.0V (auto adjusted)
Max Current: 3000mA
Voltage Read Resolution:65536
Weight:180 grams
Dimensions WxHxD:60x60x46 mm
Native ROS Messages:sensor_msgs/JointState, sensor_msgs/Imu*, sensor_msgs/Temperature
Operating Temperature:0 ~ 55 °C
• ARMv7-based mobile processing unit for data processing and communication
• SD Flash Memory with up to 512GB storage preconfigured with industry-grade custom OS based on Linux Debian 11 for data processing, communication, and modular programming.
• Preconfigured onboard embedded processing for ROS Noetic and ROS2 Humble Hawksbill message handling
• USB-Type C connector offering native virtual ethernet over USB-C connection interface and network host capabilities via RNDIS
• Embedded virtual Ethernet communication protocol. The format of the actual networking data encapsulated in each packet is based on IEEE802.3-2008.
• Integrated web graphical user interface for sensor parameter settings, calibration, and data logging.
• Integrated firmware and software updates over the air (OTA) using the web-based user
interface.
• Embedded Integrated Development Environment (IDE) for programming on the sensor using
Python and/or C/C++.
• Integrated time synchronization using the Network Time Protocol (NTP)
• Integrated ESC protection.
• CE certification under IEC 62368-1:2018
Application Processor: Dual Cortex-A7 up to 800MHz
Real-Time Processor: Cortex-M4 MPU up to 200MHz
Memory On Chip (SoC): 512 MB RAM
EEPROM Memory: 512 Bytes x 8
On SOM Flash Memory Default: 64 GB SD (Max Expansion: 512 GB)
Connectivity: 1x Virtual Ethernet over USB-C (up to 0.5 Gbps)
Software Specs:
Linux Kernel: Linux 5.10.8 RT24
Base OS: Debian 11 Bullseye
Communication Middleware: Apache Cyclone DDS
Communication Interfaces: RNDIS, ROS, ROS2, ssh, https
Default IP Address: 10.42.0.7
Web GUI address: https://10.42.0.7
Default User: olive
Default Password: one
ROS 1 Version: Noetic Ninjemys
ROS 2 Version: Humble Hawksbill
IMU Sensor Specifications:
Gyroscope Range: +/- 2000 deg/sec
Gyroscope Accuracy: +/- 0.05 deg/sec
Accelerometer Range: +/- 16 g
Accelerometer Accuracy: +/- 0.1 g
Magnetometer Range: +/- 4 gauss
Magnetometer Accuracy: +/- 0.2 gauss
ROS Messages: sensor_msgs/Imu
Sample Rate (IMU): 1000 Hz
Pressure Sensing Range: 300 ... 1100 hPa
Humidity Sensing Range: 0 ... 100%
Temperature Sensing Range: -40 ... 85°C
ROS Messages (environmental sensing): sensor_msgs/Temperature, sensor_msgs/RelativeHumidity, sensor_msgs/FluidPressure
Sample Rate: 1000 Hz