Maker's Pet Loki

Based on published sources · Not tested by us · Sources checked 2026-10-05

License: Apache-2.0, Apache-2.0 (root); bundled LGPL-3.0 and GPL-3.0 libraries · Details by part

Overview

200 mm 3D-printable differential-drive pet robot with an ESP32, BLDC gear motors and a choice of hobby LiDARs, run through the shared Kaia.ai ROS 2 stack; sized for common 220 mm-class printers. [S001] [S008] [S009]

Loki is the 200 mm member of the Maker's Pet pet-robot family: a round, two-wheel differential-drive base with an ESP32, two brushless gear motors and a hobby LiDAR, intended to map rooms and drive itself with ROS 2. The maker sized it for common 210 × 250 mm and 220 × 220 mm print beds and left the bumper off by default to simplify assembly. Pet behaviours were described as waiting on finished software. [S001] [S009]

Official website · Source code

Specifications

Detail	Description
Type	Round two-wheel differential-drive base with a caster, LiDAR plate and a phone handset clamp; no bumper by default. Reported by source [S005] [S009] [S010] · Checked 2026-10-05
Intended users	Makers with a 220 × 220 mm or 210 × 250 mm 3D printer who can configure ESP32 firmware, ROS 2 and a hobby LiDAR Editorial assessment [S001] [S009] [S015] · Checked 2026-10-05
Assembly	Assembly, PC setup, bring-up and printing videos are linked from the README; the 2023 maker page said written assembly documentation was in the works. Video content not reviewed. Reported by source [S001] [S009] · Checked 2026-10-05
Calibration	Not known
Operating system	Docker on Windows or Linux; Ubuntu 24.04 Current Kaia.ai platform README; compatibility with this 2025 description snapshot not tested. Reported by source [S015] · Checked 2026-10-05
Computer needed	ESP32 on the robot; SLAM, Nav2 and Gazebo run on a separate PC. The BOM lists the PC and a smartphone as bring-your-own. Reported by source [S008] [S015] · Checked 2026-10-05

3D preview

Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.

Model sources

Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.

Reviewed mechanical design source

Assembly and use

How the pieces fit

The pinned makerspet_loki repository is a ROS 2 description package. Its URDF gives a base of about 204 mm, 67 mm wheels and roughly 0.159 m between wheels; its launch guide calls the shared Kaia.ai packages for simulation, mapping and navigation. The ESP32 runs the onboard firmware, while SLAM, Nav2 and Gazebo run on a separate PC. The platform README offers Docker on Windows or Linux and Ubuntu 24.04; that route was not tested with this snapshot. [S005] [S006] [S015]

The printable parts are in makerspet/3d_models. Its listing has separate mounting plates for YDLIDAR X2, X2L, X3 PRO and X4, Neato XV11, RPLIDAR A1 and LDS02RR sensors, plus a 3 × 9 V battery holder, a phone handset clamp and bumper and ear mods. That repository exceeded the catalog's 150 MiB archive limit, so only the file list was preserved. The newest Fusion 360 file is Loki v670, while its README history ends at v669. [S010] [S018]

Configuration a builder must reconcile

The dated BOM prices an LDS02RR with an adapter board, but the package's telemetry file defaults to a YDLIDAR X4. Choose one sensor, print its plate and set the same model in the firmware and ROS configuration. [S007] [S008] [S010]

The README links the shared kaiaai/firmware code and lists required Arduino libraries. The firmware supports ESC-style BLDC motors, but the board configurations in the pinned snapshot name Mini-family boards and a makerspet_vac board, not Loki. The 2023 Loki page said each design repository included firmware source and KiCad schematics; the pinned Loki repository instead links out to separate repositories. [S001] [S009] [S012] [S014]

Cost scope

The February 2024 BOM lists an ESP32 and main board, an LDS02RR with adapter, two CHR-GM25-BLDC2418 motors, tires, three 9 V batteries and 0.5 kg of filament, totalling $66.00 with tax and shipping extra. The phone, PC and printer are bring-your-own. The total matches the listed amounts only if the two-motor and two-tire lines are counted once; multiplied by quantity they come to $81. The maker reports about three hours of active running on the 9 V pack. [S008]

Licenses and unknowns

The description package, CAD repository and makerspet/store files carry Apache-2.0 license files. The store holds the LDS02RR adapter schematic, BOM and Gerbers, but no design source matched to the ESP32 main board was identified. The firmware's root license is Apache-2.0, while the README-required PID_Timed library carries a GPL-3.0 file and AsyncTCP and ESPAsyncWebSrv carry LGPL-3.0 files. Nothing was compiled, printed, assembled or tested for this profile. [S003] [S011] [S013] [S016] [S017]

Cost

Version	Price
Loki 200 mm parts estimate published February 14, 2024 (ESP32 and main board, LDS02RR with adapter, two CHR-GM25-BLDC2418 motors, 3 × 9 V batteries, 0.5 kg filament)	USD 66.00 [S008] Parts estimate

AliExpress/Amazon/eBay examples; destination unspecified · Checked 2026-10-05

Included	ESP32 and ESP32 main board; 3 × 9 V alkaline batteries with cable; LDS02RR laser scanner with cable and adapter board; Two BLDC motors and 65 mm tires with adapters; 0.5 kg PETG or PLA filament
Not included	Smartphone, PC and 3D printer (listed as bring-your-own); Fasteners and wiring not itemized; Tax, shipping and handling (stated as extra)
Stock	Prices as of 02/2024; not re-quoted.
Delivery and tax	Tax, shipping and handling stated as extra; not quantified.

Price details

Upstream total $66.00 as of 02/14/2024. The 'Approx. Cost' amounts reach $66 only if the two-quantity motor ($11) and tire ($4) lines are counted once; multiplying by quantity gives $81. The page does not say which applies. Historical estimate, not a current quote.

AliExpress/Amazon/eBay examples; destination unspecified · Checked 2026-10-05 · Quantity 1

Phone, PC, printer, firmware configuration and possibly the per-unit motor/tire difference.

Source files and licenses

Printable CAD, shared firmware, the ROS 2 description and the LDS02RR adapter files are public under Apache-2.0 root licenses; the ESP32 main-board design, a Loki-specific firmware configuration and a current budget remain unresolved.

Layer	Availability / license
mechanical design	available · Apache-2.0 STL and 3MF body parts, per-LiDAR plates, bumper and ear mods, and Fusion 360 archives Loki v550 and v670 are listed at the pinned commit. The Fusion README history ends at v669 while the newest file is v670. Repository archive over the 150 MiB intake limit: files listed, not preserved or opened. Root Apache-2.0 as declared; purchased parts not covered. [S010] [S011] [S018]
electronics	available · Apache-2.0 Partial: the LDS02RR adapter (v0.3.0) has a schematic PDF, BOM CSV and Gerber archive in makerspet/store, the repository the README PCB link now resolves to. No editable KiCad project, and no design source matched to the ESP32 main board in the BOM, was identified. [S008] [S009] [S016] [S017]
firmware	available · Apache-2.0 (root); bundled LGPL-3.0 and GPL-3.0 libraries Shared platform firmware. Root Apache-2.0; README-required PID_Timed carries a GPL-3.0 file and AsyncTCP/ESPAsyncWebSrv LGPL-3.0 files. Pinned board configurations name Mini-family boards and a makerspet_vac BLDC board, none for Loki. [S001] [S012] [S013] [S014]
software	available · Apache-2.0 ROS 2 description package (URDF, SDF mesh, Nav2/Cartographer configuration). Runtime packages live in separate Kaia.ai repositories whose licenses were not individually reviewed. [S001] [S003] [S004] [S015]
documentation	available · Apache-2.0 Repository README under the root license. Maker's Pet blog pages and linked videos show no separate license in the inspected text; videos were not reviewed. [S001] [S003] [S008] [S009]

Selected mapping and navigation workflow uses no learned model weights.

No dataset is part of the selected workflow.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · Maker's Pet (makerspet.com)
Maker's Pet Loki README
Accessed 2026-10-05 · README.md at 253ce286282e437b120afe962078940605e84e3e
Source notes
Robot description, features, linked CAD/firmware/PCB repositories, setup videos and support forum.
S002 · Maker's Pet (makerspet.com)
Repository revision and popularity metadata
Accessed 2026-10-05 · 253ce286282e437b120afe962078940605e84e3e; GitHub repository and commit API fields
Source notes
Selected default-branch commit snapshot (no published release), commit date, archive checksum and dated repository-level popularity.
S003 · Maker's Pet (makerspet.com)
Repository license
Accessed 2026-10-05 · LICENSE
Source notes
Apache License 2.0 text at the repository root.
S004 · Maker's Pet (makerspet.com)
ROS 2 package manifest
Accessed 2026-10-05 · package.xml
Source notes
Package name, description, maintainer and declared Apache 2.0 license.
S005 · Maker's Pet (makerspet.com)
Robot URDF dimensions
Accessed 2026-10-05 · urdf/robot.urdf.xacro, ROBOT DIMENSIONS block
Source notes
Simulation/description dimensions: base diameter, wheel diameter, wheel separation and tablet head geometry.
S006 · Maker's Pet (makerspet.com)
Robot description modding and command guide
Accessed 2026-10-05 · urdf/README.md
Source notes
kaiaai_bringup/kaiaai_gazebo launch commands for physical, simulated, mapping and navigation runs.
S007 · Maker's Pet (makerspet.com)
Telemetry configuration
Accessed 2026-10-05 · config/telem.yaml
Source notes
Default LiDAR model and scan mask radius for the description package.
S008 · Maker's Pet (Ilia O.)
Maker's Pet bill-of-materials page
Accessed 2026-10-05 · Blog page snapshot sha256 1e7202bfb229
Source notes
Dated parts list and upstream parts total with bring-your-own exclusions.
S009 · Maker's Pet (Ilia O.)
Maker's Pet robot design page
Accessed 2026-10-05 · Blog page snapshot sha256 1533ef11db08
Source notes
Design notes, print-volume requirement, development status and repository contents as described by the maker.
S010 · Maker's Pet (makerspet.com)
Linked CAD repository file listing (makerspet/3d_models)
Accessed 2026-10-05 · Git tree API listing at 42d7b7956bd6d54b8cff79f26c2f1d54f677ea18; repository archive over the 150 MiB intake limit, files listed but not preserved
Source notes
STL, 3MF and Fusion 360 file names and sizes for the model; no geometry inspected.
S011 · Maker's Pet (makerspet.com)
Linked CAD repository license
Accessed 2026-10-05 · LICENSE at the pinned CAD commit
Source notes
Apache License 2.0 text for the CAD repository.
S012 · Kaia.ai / Maker's Pet contributors
Kaia.ai platform firmware README
Accessed 2026-10-05 · README.md at e4d159c94321b1431e61f64f12c3a2da24cf2d19 (iron branch snapshot)
Source notes
Shared ESP32 Arduino/micro-ROS firmware: supported motor drivers, BLDC motor guidance and change log.
S013 · Kaia.ai / Maker's Pet contributors
Firmware and bundled library license files
Accessed 2026-10-05 · LICENSE and libraries/*/LICENSE headers
Source notes
Root Apache-2.0 plus bundled libraries under Apache-2.0, LGPL-3.0 and GPL-3.0 license files.
S014 · Kaia.ai / Maker's Pet contributors
Firmware board configuration files
Accessed 2026-10-05 · kaiaai-esp32/data/*.yaml board model lines
Source notes
Board configurations shipped with the pinned firmware snapshot.
S015 · Kaia.ai / Maker's Pet contributors
Kaia.ai ROS 2 package README
Accessed 2026-10-05 · README.md at ef5fb2ab3433f83d3ed19765af792f8d2298d50b
Source notes
Platform architecture (ESP32 on robot, ROS 2 on PC), compatible robot list, supported LiDARs and installation routes.
S016 · Maker's Pet (makerspet.com)
Maker's Pet store technical files inventory
Accessed 2026-10-05 · e338516e4e4c19bec75d947f9c32589d32a29387 archive file inventory
Source notes
Schematic PDFs, STEP models, one Gerber archive and board configs; no editable KiCad project identified.
S017 · Maker's Pet (makerspet.com)
Redirect of the README-linked PCB repository
Accessed 2026-10-05 · GitHub API repos/makerspet/pcb response (redirected)
Source notes
The README-linked makerspet/pcb repository resolves to makerspet/store.
S018 · Maker's Pet (makerspet.com)
Loki Fusion 360 design README
Accessed 2026-10-05 · loki_200mm/fusion360/README.md at the pinned CAD commit
Source notes
Fusion 360 opening/export instructions and design release history.

Research and review details

Source research only; no installation, physical build, calibration or test performed. No affiliate links; Maker's Pet store prices on the cited pages were not used as costs.

Profile edited 2026-10-05 · Sources checked 2026-10-05 · Next review target 2026-11-05

Revision: makerspet/makerspet_loki 253ce286282e437b120afe962078940605e84e3e (commit snapshot 2025-01-05; no published release). Linked CAD makerspet/3d_models 42d7b7956bd6d54b8cff79f26c2f1d54f677ea18 listed only (archive over 150 MiB; latest Fusion file Loki v670); shared firmware kaiaai/firmware e4d159c94321b1431e61f64f12c3a2da24cf2d19 (iron-branch commit snapshot).. Software repository activity recorded 2025-01-05 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history

2026-10-05 — Initial intake profile from pinned upstream sources (Growbotics lead verified against upstream).