Yahboom YB-EET01-V2.0 Micro ROS Control Board for Raspberry Pi 5 Robot, ESP32-S3, ROS2
Yahboom YB-EET01-V2.0 Micro ROS Control Board for Raspberry Pi 5 Robot, ESP32-S3, ROS2
Yahboom
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Overview
This Micro ROS control board (MicroROS Robot Control Board) is a Raspberry Pi 5 robot expansion control board designed for ROS2 robot projects. It integrates an ESP32-S3 co-processor, 4-channel encoder motor drive, 2-channel PWM servo outputs, a laser lidar serial interface, and an onboard 6-axis IMU attitude sensor. MicroROS firmware is pre-installed before shipment for communication with devices running ROS2.
Key Features
- ESP32-S3 co-processor for MicroROS: supports MicroROS development and can be used in WiFi-UDP LAN mode or serial communication mode.
- Raspberry Pi 5 PD power support: Type-C power interface supports Raspberry Pi 5 (5.1V/5A) PD power supply protocol.
- Robot I/O integration: 4-channel motor drive with encoder speed measurement, two PWM servo interfaces, lidar communication interface, buzzer, LED indicators, and custom buttons.
- Multiple communication methods: WiFi-UDP and serial port; also supports WiFi, Bluetooth, and I2C communication.
- Lidar and motor wiring attention: lidar/motor equipment must match the board’s interface and line sequence; MS200 lidar and 310 motor are recommended.
- ROS version: supports ROS2 only (not ROS1). Includes ROS2 function package and MicroROS tutorials.
- External antenna included: external gain antenna provided to enhance wireless signal reliability for WiFi and Bluetooth communication (IPEX 1st generation interface).
Specifications
| Product type | Micro ROS control board / Raspberry Pi 5 robot expansion control board |
| Board marking (model) | YB-EET01-V2.0 |
| ROS support | ROS2 |
| MicroROS | Support |
| Communication modes | WiFi-UDP (LAN), Serial port |
| Other communications | WiFi, Bluetooth, I2C |
| Motor drive | Motor x4 (4-channel), encoder speed measurement x4; supports PID speed control |
| Servo outputs | PWM servo interface x2 |
| Lidar interface | Laser lidar serial interface x1 |
| UART port | 1-channel UART (can connect WiFi camera module / ESP32 WiFi camera module) |
| IMU | 6-axis IMU attitude sensor (3-axis accelerometer + 3-axis gyroscope) |
| IMU I2C communication speed | 400KHz |
| IMU data read rate | 400Hz |
| Custom GPIO | Custom GPIO x2 |
| Indicators & alerts | LED indicator light x2, buzzer |
| Recommended motor voltage | 7.4V |
| Power interface | Type-C; supports Raspberry Pi 5 (5.1V/5A) PD power supply protocol |
| Antenna interface | IPEX antenna 1st generation interface |
ESP32 Module (onboard)
| ESP32 model | ESP32-S3-WROOM-1U-N4R2 |
| Kernel | Xtensa LX7 32-bit dual-core microprocessor |
| Main frequency clock | 240MHz |
| Number of pins | 41 |
| Number of GPIOs | 36 |
| Communication interface | SPI, I2S, I2C, UART, USB OTG, SDIO, JTAG, DVP, LCD |
| SRAM | 512KB |
| ROM | 384KB |
| PSRAM | 2MB |
| Flash | 4MB |
| Operating voltage | 3V~3.6V |
| WiFi | IEEE 802.11 b/g/n; 2.4 GHz |
| Bluetooth | V5.0 |
| Operating temperature | -40~85C |
Interface Line Sequences (as labeled)
| Lidar connector | MX1.25MM-4P |
| Lidar pin sequence | 5V, GND, TX, RX |
| Motor connector | PH2.0MM-6P |
| Motor interface line sequence | H1B, H1A, 3V3, GND, M1-, M1+ |
Applications
- Remote communication mode: PC virtual machine communicates through WiFi-UDP within the LAN to develop ROS robot applications.
- Development board connection mode: Raspberry Pi 5 / RDK series board / Jetson series board connect via serial communication for ROS robot application development.
- ESP32 mode: can be used as an ESP32 development board for ROS robots.
For compatibility and wiring questions before purchase, contact support@rcdrone.top or visit https://rcdrone.top/.
Manuals
- Tutorials: http://www.yahboom.net/study/MicroROS-Board
Details
Explore Yahboom ROS-series robot platforms that can be built around compatible ROS2 control hardware.
Build a Raspberry Pi 5 robot car that communicates with ROS2 for tasks like SLAM mapping and navigation.
The YB-EET01-V2.0 integrates an ESP32-S3 co-processor and onboard 6-axis IMU for MicroROS communication with ROS2.
WiFi-UDP and serial communication options are supported alongside motor, encoder, IMU, and lidar interfaces.
Pre-installed MicroROS firmware helps connect the control board to a ROS2 environment with minimal setup.
Choose between WiFi LAN remote communication, direct development-board connection, or using the ESP32 mode for ROS projects.
ESP32-S3 onboard processing enables MicroROS development and flexible connectivity for ROS2 robot applications.
Full ROS2 system support is emphasized, with related documentation and technical support resources.
Remote communication over WiFi-UDP can be used with a PC virtual machine, Raspberry Pi, or Jetson-based setup.
Serial mode provides a direct connection option to Raspberry Pi 5, with a separate external power note for Jetson Nano.
A side-by-side comparison helps clarify differences in ROS support, interfaces, and communication methods.
The onboard 6-axis IMU supports high-speed I2C communication and frequent data updates for posture visualization in ROS.
An external gain antenna is included to improve wireless reliability for WiFi and Bluetooth communication.
A dedicated laser lidar serial interface with clear pin sequencing helps simplify lidar integration for ROS2 robots.
Drive up to four encoder motors and keep wiring aligned with the labeled connector sequence for stable control.
Two 5V PWM servo outputs support common servo-driven modules such as small gimbals.
The micro ROS2 control board connects to an ESP32 WiFi camera module via its onboard GPIO interface for camera integration.
A ROS2 WiFi camera module is available as an optional add-on for compatible Raspberry Pi robot builds.
The YB-EET01-V2.0 control board includes a 5.1V/5A power supply system with anti-reverse, short-circuit, and over-current protection.
The Yahboom micro ROS control board supports the Raspberry Pi 5 power supply protocol and a stackable layout with 5V/5A power input.
Open-source materials and code support Micro ROS2 development routines such as motor driving, PWM servo control, and sensor reading.
Yahboom provides a tutorial link and downloadable course files for ESP32 basics and micro-ROS to support setup and learning.
ROS2 basic course files, English-subtitled video tutorials, and a robot basics course provide structured learning resources for ROS2 projects.
The Yahboom YB-EET01-V2.0 Micro ROS control board is used in Micro ROS and Raspberry Pi 5 robot car builds for ROS2-based projects.
The YB-EET01-V2.0 board provides labeled connectors for battery charging, motor outputs, USB-C power/serial, PWM servos, LiDAR, and an ESP32-S3 module.
The ESP32-S3 micro-ROS control board measures about 85×56 mm and includes labeled motor, servo, and sensor interface connections plus RESET/BOOT buttons.
The package includes the ESP32 microROS robot control board along with a USB‑C data cable, a double‑ended Type‑C power cable, an antenna, and mounting hardware.
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