{"id":26060476,"url":"https://github.com/adnksharp/cartesian-ppp-ros","last_synced_at":"2026-04-18T22:06:01.620Z","repository":{"id":280418031,"uuid":"941728153","full_name":"adnksharp/cartesian-ppp-ros","owner":"adnksharp","description":"Robot cartesiano de 3 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Cartesian Robot (PPP) ROS2\n\n![](img/preview.png)\n\nRobot cartesiano de 3 DOF con ROS2,\n\n## Software y Hardware\n\n\u003cdetails\u003e\n    \u003csummary\u003eSoftware\u003c/summary\u003e\n\n* [ROS2 Jazzy](https://index.ros.org/p/desktop_full/#jazzy)\n* [Gazebo Harmonic](https://gazebosim.org/docs/harmonic/getstarted/)\n* [uROS Jazzy](https://github.com/micro-ROS/micro_ros_setup/tree/jazzy)\n* [uROS Arduino Jazzy](https://github.com/micro-ROS/micro_ros_arduino/tree/jazzy)\n* [KiCad](https://www.kicad.org)\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n    \u003csummary\u003eComponentes electrónicos\u003c/summary\u003e\n\n* 1 [ESP32 S3 WROOM 1 N16R8 DevKit](https://www.amazon.com/HiLetgo-ESP32-S3-ESP32-S3-DevKit-Bluetooth-Development/dp/B0CDWXWXCG)\n* 2 [Módulos controladores de motores L298N](https://www.amazon.com/WWZMDiB-L298N-H-Bridge-Controller-Raspberry/dp/B0CR6BX5QL)\n* 3 [Motores con encoder JGA25-371](https://www.amazon.com/JGA25-371-Encoder-Mounting-Bracket-Reduction/dp/B0CGLSGSZ7)\n* 4 [LEDs 5730](https://www.amazon.com/AEDIKO-Lighting-Electronics-Components-Emitting/dp/B09XB5KDWS)\n* 4 [Resistencias 220 Ohms 1206](https://www.amazon.com/Chanzon-Resistor-Tolerance-Resistors-Certificated/dp/B08R8CW7TX)\n* 1 Fuente de alimentación 12V 2A\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n    \u003csummary\u003eComponentes mecánicos\u003c/summary\u003e\n\n* 12 perfiles de aluminio de 45x45x300 mm.\n* 16 ángulos de aluminio de 45x45 mm.\n* 3 tuercas de latón T8.\n* 3 tornillos sin fin de 8x300 mm.\n* 3 varillas lisas de 8x300 mm.\n* 3 rodamientos SC8UU.\n* 3 acopladores flexibles de 5x8 mm.\n* 5 chumaceras KP08.\n* 6 soportes SK8.\n* Piezas impresas en 3D.\n\n\u003c/details\u003e\n\n## Instalación\nPara instalar el software de ROS2 Jazzy, se recomienda seguir la guía oficial de instalación de [ROS2](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html), el siguiente script instala el software de ROS2, Gazebo sim y micro-ROS en Ubuntu:\n\n```shell\n$SHELL ./src/install-ros.sh\n```\n\n![](img/shell-install.svg)\n\nMás información sobre el script en [src](src).\n\n## Espacio de Trabajo de ROS2\nDentro de la carpeta ros-ws se encuentra el paquete en desarrollo `carobot`, el cual contiene los archivos para la visualización y simulación del robot cartesiano en Gazebo y RViz.\n\n### Construcción del espacio de trabajo\n\n```shell\ncd ros-ws\ncolcon build\n```\n\n### Ejecución del lanzador\n\n```shell\nsource install/setup.$(echo $SHELL | awk -F '/' '{print $NF}')\nros2 launch carobot display.launch.py\n```\n\n### Ejecución de la interfaz de usuario\n\n```shell\nsource install/setup.$(echo $SHELL | awk -F '/' '{print $NF}')\nros2 run carobot pos_put.py\n```\n\n[ros-ws](ros-ws) contiene más información sobre el espacio de trabajo de ROS2.\n\n## Electrónica\n![](\u003cimg/electronic PCB 3D.png\u003e)\n\n[electronic](electronic) contiene el diseño de la PCB del robot cartesiano en formato KiCad, el cual incluye el diseño de la PCB y el esquema eléctrico.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Fcartesian-ppp-ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadnksharp%2Fcartesian-ppp-ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Fcartesian-ppp-ros/lists"}