# Linorobot - 2WD, 4WD, Mecanum and Ackermann Steering ROS platforms
**URL:** https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772
**Category:** Projects
**Created:** [November 1, 2016, 5:54pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772 "2016-11-01T17:54:18Z")
**Posts on this page:** 9
**Page:** 1
### Author:  [@grassjelly](https://discourse.openrobotics.org/u/grassjelly)
#### Post date: [November 1, 2016, 5:54pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/1 "2016-11-01T17:54:18Z")
Hi guys,
Just like to share my project I started almost a year ago. It’s a suite of various ROS compatible platforms mainly 2WD, 4WD, Mecanum Drive and Car-Like robots.
I have posted a tutorial on how to build each platform at [http://linorobot.org](http://linorobot.org) . Since it’s supposed to be homebrew, most of the parts are easily accessible and comparatively cheap. The controller’s using a Teensy 3.2 board and uses a Radxa Rock Pro as its main computer. It’s also got a XV-11 Lidar for mapping and localization so users can have an end-to-end learning experience with ROS. I tried to make the design as modular and scalable as possible so it can be used for much bigger robots as well (hopefully).
Please feel free to criticise, suggest or ping me for interested collaborators or mentors. 😛
Thank you.
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### Author:  [@codebot](https://discourse.openrobotics.org/u/codebot)
#### Post date: [November 1, 2016, 9:48pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/2 "2016-11-01T21:48:37Z")
Wow, your project documentation is fantastic! Thanks for taking all the time to write it up so nicely. Congrats on getting all that working; it’s great to see a full system end-to-end from firmware all the way up to map-building.
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### Author:  [@grassjelly](https://discourse.openrobotics.org/u/grassjelly)
#### Post date: [November 3, 2016, 2:21pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/3 "2016-11-03T14:21:18Z")
Happy to contribute something 😊
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### Author:  [@alexr](https://discourse.openrobotics.org/u/alexr)
#### Post date: [November 11, 2016, 10:08am UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/4 "2016-11-11T10:08:07Z")
This is amazing. I am going to try to make some of these and check them out.
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### Author:  [@imguruza](https://discourse.openrobotics.org/u/imguruza)
#### Post date: [November 11, 2016, 11:47am UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/5 "2016-11-11T11:47:51Z")
Love it! Hope to have time for making my own 😄
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### Author:  [@grassjelly](https://discourse.openrobotics.org/u/grassjelly)
#### Post date: [November 11, 2016, 1:43pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/6 "2016-11-11T13:43:14Z")
I’m planning to support more motor drivers that has higher rating ie BTS7960 (43A) [Large Current Motor Driver Module BTS7960 - 43A [BTS7960-Modules] - US $12.00 : HAOYU Electronics : Make Engineers Job Easier](http://www.hotmcu.com/large-current-motor-driver-module-bts7960-43a-p-266.html) .
As well as support for Kinect for more sensor options.
Will keep you guys posted!
Happy Building! 🙂
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### Author:  [@suforeman](https://discourse.openrobotics.org/u/suforeman)
#### Post date: [January 2, 2017, 10:22pm UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/7 "2017-01-02T22:22:32Z")
You have done so much work.
I have been recently developing a similar robot - the LoCoRo (low cost robot) project. I am using a Raspberry Pi 3 as the computer (others could be substituted). Similar to your Linorobot, the foundation is PWM motor drive and motor controllers. (The use of ESCs allow for high current motors). It too supports 2WD (akerman and differential drive) and 4WD (differential and Mecanum drive). (The mecanum drive currently used 3D printed wheels which I plan to open source soon). I am only at the teleop phase of development. I will read about your work to help with ideas for developing autonomous capabilities.
I choose the RPi for its ubiquity and with the expectation it will have more than enough CPU to handle computer vision (which I am learning is suboptimal). I only recently started to consider other proximity sensors for mapping.
Thank you for sharing all that you have done.
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### Author:  [@grassjelly](https://discourse.openrobotics.org/u/grassjelly)
#### Post date: [July 15, 2017, 6:03am UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/8 "2017-07-15T06:03:40Z")
Hi guys, I’ve released beta v1.0 of this project. I did a major revamp to support more motor drivers, IMUs and LIDARs in the future.
Due to maintainability issues I’ve also merged all the supported bases (2WD, 4WD, Mecanum drive, and Ackermann steering) into one repo .
You can check out the release notes here: [Release v1.0 Beta Release · linorobot/linorobot · GitHub](https://github.com/linorobot/linorobot/releases/tag/v1.0-beta)
and the new wiki here: [Home · linorobot/linorobot Wiki · GitHub](https://github.com/linorobot/linorobot/wiki)
Do join our small forum if you need help 😛 [Redirecting to Google Groups](https://groups.google.com/forum/#!forum/linorobot)
Cheers!
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### Author:  [@hemsingh\_Banoth](https://discourse.openrobotics.org/u/hemsingh_Banoth)
#### Post date: [April 24, 2023, 6:09am UTC](https://discourse.openrobotics.org/t/linorobot-2wd-4wd-mecanum-and-ackermann-steering-ros-platforms/772/9 "2023-04-24T06:09:52Z")
Hi , This is Hemsingh, Its done wonderfully well by you. I appreciate ur hard work. But i have a doubt , How the localization can be achieved on linorobot2. amcl pose array particle cloud is not coming to fill and localize the bot. Im ready to donate if localization is done with linorobot (nav2).
post me the reply at [hemsinghb@gmail.com](mailto:hemsinghb@gmail.com)
… Regards.
Thanks.