Bobble-Bot

Preserve both simulation repositories

The documented source build uses ROS Melodic, Gazebo, Hector Gazebo plugins and catkin, with both bobble_controllers and bobble_description cloned into one workspace. This review preserved the controller revision recorded in the profile and description commit b7db2607759d256b1bcf729ab943d1794c2774d2. They were not built or tested together. The README's generic clones and unpinned Python packages do not constitute a locked environment. [S001] [S002] [S010]

Keyboard control requires its terminal to have focus and uses the space bar to activate the balance controller. The upstream impulse-response example records a ROS bag, then generates tilt and velocity plots. That gives readers a defined simulation experiment to investigate; this review did not execute it or reproduce the published plots. [S001]

Simulation parameters are not hardware limits

config/bobble_sim_balance_control.yaml selects BalanceSimController with InSim: true, a 500 Hz control-loop setting, 0.05 m wheel radius and starting/maximum tilt settings of 10/20 degrees. These are source configuration values. They do not establish a measured loop rate, physical stability envelope or tested stopping behavior. The file's IMU name is bno055, while the physical BOM names a DFRobot SEN0140; preserve the distinction when mapping a real device. [S006] [S009]

The documented Docker graphics route historically required an NVIDIA GPU; its headless route did not require graphics. The container payload and its current compatibility were not validated here. [S001]

The historical BOM is useful but not a complete quote

The preserved BB2 workbook lists printed part numbers, fasteners, a 4S 5000 mAh battery, two Turnigy Multistar 4822-690kV motors, wheel encoders and the custom boards. Several board and encoder prices are blank. Some fastener prices are for packs rather than quantities consumed, and cell I26 sums only H20:H26. That subtotal is not the cost of a complete robot. No current regional availability or delivered total was verified. [S006]

The six-page assembly document identifies mirrored actuator parts, the central bulkhead, electronics mounts and IMU placement. Its exploded actuator drawing connects the wheel, motor, AS5047D sensor and Chupacabra drive. These instructions help interpret the parts list, but they do not by themselves supply complete editable designs and firmware for every custom board. [S007]

Reconcile the wiring documents before procurement

The cable-harness document identifies power, CAN, encoder, IMU and PDU-enable connections. It also contains discrepancies that should be resolved against the actual hardware revision: its overview labels the motors TACON while the BOM and assembly document specify Turnigy Multistar. On page 5, the IMU harness parts list names connector 5023800900, while the four-pin drawing labels it 5023800400. This review preserves both readings and does not choose a replacement part or validate a wiring procedure. [S006] [S007] [S008]

The controller and description repositories carry BSD 3-Clause notices. The external BOM and assembly files are available to read, but their redistribution terms and a complete matching hardware source set were not established. The profile therefore covers a useful open simulation/control project with documented physical hardware, rather than claiming a fully reproduced or commercially qualified build. No installation, fabrication, wiring or balancing test was performed. [S003] [S005] [S011] [S012]