KAFEICHE Experimental Robot Platform

Introduction

I needed an easy-to-use hardware platform with which I could experiment and learn ROS (Robot Operating System). So this project was created to help understand the ROS from scratch.

The main goal was to build a load-bearing, easy-to-assemble, highly modifiable 3D-printable wheeled robot platform that allows quick part replacement and endless experimentation.

Skill level required

The project includes a complete ROS 2 Jazzy software stack designed for Raspberry Pi 4B running Ubuntu 24.04 (github: https://github.com/MasSciencer/kafeiche)

The provided ROS 2 packages implement a hardware interface (based on ros_control) for driving the wheel servomotors.

This level of control is sufficient to later add higher-level nodes — for example, joystick teleoperation, autonomous navigation, etc.

Additionally, you can run MediaMTX in parallel to easily stream the robot’s video feed via WebRTC to a browser.

• Recommended prior knowledge for ROS 2 control

• Basic–intermediate understanding of Ubuntu/Linux

• At least intermediate knowledge of ROS 2 (topics, services, actions, launch files, controllers, etc.)

• Basic soldering skills are needed to complete the build.

• In general, you need basic knowledge about the SPI protocol to connect encoders to RP4. If necessary, I will add the connection diagram later.

Alternative approach

You can also implement the entire control system using Arduino or ESP32 — the current hardware components are fully compatible with both approaches.

Additional parts

1. Front cameras holder is  >> here << 

3D Printing Recommendations

All parts are optimized for 3D printing.

Most components are designed to print without supports and have a clear “this side up” orientation.

A minimum of 2 kg of PETG and 0.5kg of TPU is required for printing.

Suggested settings for structural parts:

• Material: PETG (I recommend it, but you can also use PLA)

• Walls: 3 perimeters

• Infill: ≥ 20%

The most heavily loaded part is RESSORA_open — consider increasing infill to 40–50% or adding extra perimeters for it.

Wheels

Print in flexible filament — TPU (85A–95A recommended)

Fasteners

Most of the connections are made with large printing screws, but there are also a number of connections with M3 metal screws and heat-set threaded inserts.

Assembly

• Detailed instructions are available in PDF format in the attached files;

• The list of all the components for printing is available in PDF format and Google sheets 1

• The list of components for purchase (BoM) is also available in PDF format and Google sheet 2

General plan

Passive wheel

Motor-wheel