OpenAMRobot mobile base (OpenAMR)

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

License: CERN-OHL-P-2.0, MIT (repository); Apache-2.0 on overlay files derived from linorobot2, MIT, CC-BY-4.0 per LICENSING.md (NOTICE.md states MIT) · Details by part

Overview

Differential-drive AMR base with a sheet-metal chassis, Raspberry Pi 5, Teensy 4.0, two 60 W ZD BLDC gearmotors, RPLIDAR A1 and ROS 2 Jazzy; upstream discloses open safety gaps such as no battery fuse or hardware E-stop. [S001] [S017]

OpenAMRobot is a differential-drive autonomous mobile robot base for research, prototyping and education. The documented configuration that has run the real robot uses a Raspberry Pi 5 (8 GB) with ROS 2 Jazzy, a Teensy 4.0 for motor control, two ZD 24 V 60 W BLDC gearmotors with ZBLD.C20-120L2R drivers, AS5040 wheel encoders, an MPU-6500 IMU, an RPLIDAR A1 and a Pi camera, on a laser-cut and bent sheet-metal chassis. [S001] [S017]

Official website · Source code

Specifications

Detail	Description
Type	Differential-drive base with a laser-cut, bent sheet-metal chassis, two driven 200 mm wheels and swivel castors. Reported by source [S001] [S007] [S017] · Checked 2026-10-05
Intended users	Labs and experienced builders with sheet-metal fabrication access, 24 V power-wiring skills and ROS 2 experience Editorial assessment [S001] [S007] [S017] · Checked 2026-10-05
Assembly	A wheel-module assembly guide is included; a complete written robot assembly guide was not identified in the inspected sources. Video content not reviewed. Editorial assessment [S001] · Checked 2026-10-05
Calibration	Encoder calibration tooling in the firmware repository; upstream asks builders to drive exactly 1 m and compare odometry. Reported by source [S006] [S013] · Checked 2026-10-05
Operating system	Ubuntu Server 24.04 on the robot; Ubuntu 24.04 or Docker for development and simulation Reported by source [S001] [S011] · Checked 2026-10-05
Computer needed	Onboard Raspberry Pi 5 (8 GB) running Ubuntu Server 24.04 and ROS 2 Jazzy; Teensy 4.0 handles real-time motor control. Reported by source [S001] · 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

Where the sources are now

The listed openAMRobot/openamr repository now describes itself as a legacy monorepo kept for historical reference. Current material is split into hardware, software and firmware repositories, and a v0.0.1 release from July 2026 bundles them as a separate 113 MiB source zip. This profile covers October 2 commit snapshots of the three platform repositories; the release zip was not preserved, so v0.0.1 contents were not compared. [S018] [S019]

The hardware repository holds a full STEP assembly, per-part PDF, DXF and SolidWorks production files, sheet-metal bend parameters, electrical and mechanical BOMs, wiring documentation and a wheel-module assembly guide. No custom PCB exists yet; the electronics are off-the-shelf modules wired per the pinout. [S001] [S007] [S009]

What a builder must reconcile

The firmware is not standalone. It is three overlay files to copy onto linorobot2_hardware at a pinned jazzy-branch commit, then build with PlatformIO and run with a micro-ROS agent. That base was not preserved here. The overlay covers motor control, encoders, IMU and a 200 ms command watchdog; battery monitoring is not implemented. [S013] [S014]

The software README says its Gazebo simulation, Nav2 and AprilTag docking stack runs end to end, but its bring-up, control and driver packages are placeholders. The hardware BOM corrects the drivetrain to a 0.2 m wheel and 0.46 m track and warns that the simulation file still uses wrong wheel values. Measure the assembled robot and drive 1 m to check odometry rather than trusting CAD-derived numbers. [S006] [S011]

Upstream lists safety gaps that are not yet fixed: no fuse on the 24 V battery, no battery-side disconnect or hardware E-stop, and a Pi 5 without active cooling that throttles. Encoders must run at 3.3 V because the Teensy inputs are not 5 V tolerant. The release is described as hobby/research-grade and not safety certified. [S001] [S006] [S017]

Cost and licensing

No upstream price or parts total was identified; the BOMs list parts without prices, so budget remains unknown. The hardware repository's LICENSE is CERN-OHL-P-2.0 and LICENSING.md maps code to MIT and documentation to CC BY 4.0, but NOTICE.md still says documentation and BOM are MIT and hardware files are planned. Software and firmware repositories are MIT, while the modified linorobot2 overlay files keep Apache-2.0 headers. Re-hosted datasheets remain manufacturer copyright. [S003] [S004] [S005] [S010] [S012] [S015] [S016]

This is source research only: the software was not installed or built, CAD geometry and production drawings were not opened or checked, and nothing was fabricated, wired, flashed or driven for this profile.

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

CAD, wiring documentation, firmware overlay and ROS 2 software are public with stated permissive licenses; documentation licensing conflicts, the linorobot2 firmware base and the frozen release package were not preserved, and costs are unpublished.

Layer	Availability / license
mechanical design	available · CERN-OHL-P-2.0 Full STEP assembly, per-part PDF/DXF/SLDPRT/SLDDRW/STEP production files and a 9.8 MB SolidWorks zip are in the pinned snapshot; geometry not opened. The CAD README calls the native SolidWorks package a release asset, but no hardware-repository release was found. NOTICE.md still describes hardware files as planned. Purchased motors, wheels and sensors are not covered. [S001] [S003] [S004] [S005] [S009]
electronics	available · License not fully assessed Wiring/pinout, power and sensor documentation with an electrical BOM; no custom PCB (electrical/pcb is a placeholder). LICENSING.md maps documentation to CC BY 4.0 and schematic source to CERN-OHL-P-2.0, while NOTICE.md says documentation and BOM are MIT; no single license assigned here. [S001] [S004] [S005] [S006]
firmware	available · MIT (repository); Apache-2.0 on overlay files derived from linorobot2 Three overlay files to copy onto linorobot2_hardware at aaf9d59; that base was not preserved here. Modular firmware directories are placeholders; battery monitoring not implemented. [S013] [S014] [S015] [S016]
software	available · MIT Description, Gazebo, Nav2 and AprilTag docking packages; bring-up, control and driver packages are placeholders. The hardware BOM notes the simulation robot.sdf still uses wrong wheel radius and separation. [S011] [S012]
documentation	available · CC-BY-4.0 per LICENSING.md (NOTICE.md states MIT) Conflicting statements inside the hardware repository. Re-hosted third-party datasheets remain manufacturer copyright and are excluded from the repository license. [S004] [S005] [S010]

Navigation and docking workflow uses no distributed learned 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 · OpenAMRobot (Botshare LTD)
OpenAMRobot platform hardware README
Accessed 2026-10-05 · README.md at 9703a5f13ffc009db8ff3fa979470179afe3d26b
Source notes
Validated hardware configuration, drivetrain values, release scope, known hardware limitations and license summary.
S002 · OpenAMRobot (Botshare LTD)
Hardware repository revision and popularity metadata
Accessed 2026-10-05 · 9703a5f13ffc009db8ff3fa979470179afe3d26b; GitHub repository and commit API fields
Source notes
Commit snapshot (no repository release), commit date, archive checksum and dated repository-level popularity.
S003 · OpenAMRobot (Botshare LTD)
Hardware repository license
Accessed 2026-10-05 · LICENSE
Source notes
CERN Open Hardware Licence Version 2 - Permissive text at the repository root.
S004 · OpenAMRobot (Botshare LTD)
OpenAMRobot licensing standard (hardware repository)
Accessed 2026-10-05 · LICENSING.md
Source notes
Per-material license map: MIT for code, CC BY 4.0 for documentation, CERN-OHL-P-2.0 for CAD and design source.
S005 · OpenAMRobot (Botshare LTD)
Hardware repository notice
Accessed 2026-10-05 · NOTICE.md
Source notes
Older licensing summary (documentation and BOM MIT; hardware files planned under CERN-OHL-P-2.0) and third-party notes.
S006 · OpenAMRobot (Botshare LTD)
Electrical components BOM
Accessed 2026-10-05 · manufacturing/bom/components-bom.md (last updated 2026-06-19)
Source notes
Part numbers, confirmation status, motor/gearbox, drivetrain dimensions, encoder supply fix and battery notes.
S007 · OpenAMRobot (Botshare LTD)
Mechanical and preliminary electronics BOM
Accessed 2026-10-05 · manufacturing/bom/mechanical-bom.md
Source notes
Sheet-metal parameters, purchased mechanical components, preliminary electronics BOM and interface summary.
S008 · OpenAMRobot (Botshare LTD)
Product architecture: base build versus options
Accessed 2026-10-05 · product-architecture.md
Source notes
What the base build includes and which attachments and parts are roadmap options.
S009 · OpenAMRobot (Botshare LTD)
Mechanical CAD README and file inventory
Accessed 2026-10-05 · mechanical/cad/README.md plus archive inventory of mechanical/cad
Source notes
STEP full assembly, production files and SolidWorks package location; files listed, geometry not opened.
S010 · OpenAMRobot (Botshare LTD)
Datasheets README
Accessed 2026-10-05 · datasheets/README.md
Source notes
Third-party datasheets re-hosted with manufacturer copyright; base versus optional components.
S011 · OpenAMRobot (Botshare LTD)
OpenAMRobot platform software README
Accessed 2026-10-05 · README.md at 12de3ef9503073ab41fd4118f3a018809ad51c4e (status, quickstart table and repository layout sections)
Source notes
ROS 2 Jazzy simulation, Nav2 and AprilTag docking; experimental status; placeholder bring-up, control and driver packages.
S012 · OpenAMRobot (Botshare LTD)
Software repository license
Accessed 2026-10-05 · LICENSE
Source notes
MIT License text.
S013 · OpenAMRobot (Botshare LTD)
OpenAMRobot platform firmware README
Accessed 2026-10-05 · README.md at 732f0027be891d09603385f16abbfac1d30f4987
Source notes
Teensy 4.0 linorobot2 overlay, prerequisites, pinned linorobot2_hardware commit and flashing route.
S014 · OpenAMRobot (Botshare LTD)
Teensy 4.0 linorobot2 overlay README
Accessed 2026-10-05 · boards/teensy_4_0/linorobot2_overlay/README.md
Source notes
Module coverage (watchdog partial, battery monitor not implemented) and robot-specific configuration changes.
S015 · OpenAMRobot (Botshare LTD)
Firmware repository license
Accessed 2026-10-05 · LICENSE
Source notes
MIT License text for the firmware repository.
S016 · Juan Miguel Jimeno (linorobot2); modified by OpenAMRobot
Overlay firmware source header
Accessed 2026-10-05 · src/firmware.ino header comment
Source notes
Apache-2.0 notice retained on the modified linorobot2 firmware file.
S017 · OpenAMRobot (Botshare LTD)
OpenAMRobot v0.0.1 release metadata
Accessed 2026-10-05 · release-metadata/*.md and release-config.json at v0.0.1 (2e447ab0bec17c9a431d8f1d2a05ad17ffc7816b)
Source notes
Release scope, notes, known limitations and the component repositories packaged from main branches.
S018 · OpenAMRobot (Botshare LTD)
OpenAMRobot v0.0.1 GitHub release record
Accessed 2026-10-05 · GitHub releases API: tag, publication date and asset list
Source notes
Release published 2026-07-11 with a 118,878,506-byte source zip asset (not preserved here).
S019 · OpenAMRobot (Botshare LTD)
Legacy openamr monorepo metadata
Accessed 2026-10-05 · GitHub repository API description and acquisition record (2c426120f0044c3cc186be7f524585e1395a8629)
Source notes
The originally listed monorepo describes itself as legacy and retained for historical reference.

Research and review details

Source research only; no installation, physical build, calibration or test performed. No affiliate links; upstream sponsorship and support tiers were not evaluated.

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

Revision: openamr-platform-hw 9703a5f13ffc009db8ff3fa979470179afe3d26b, openamr-platform-sw 12de3ef9503073ab41fd4118f3a018809ad51c4e and openamr-platform-fw 732f0027be891d09603385f16abbfac1d30f4987 (commit snapshots, 2026-10-02). The v0.0.1 platform release (2026-07-11) packaged earlier main-branch snapshots in a source zip that was not preserved.. Repository activity recorded 2026-10-02 [S002]

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

Change history

2026-10-05 — Initial intake profile. Lead pointed to the legacy openamr monorepo; profile covers the current split platform repositories.