Yahboom YB-ERF01 V3.0 ROS Robot Control Board, STM32F103RCT6, for Raspberry Pi 5/Jetson/RDK X3
Yahboom YB-ERF01 V3.0 ROS Robot Control Board, STM32F103RCT6, for Raspberry Pi 5/Jetson/RDK X3
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Overview
This ROS robot control board (V3.0) is a robot expansion/control board designed for ROS robot cars and mobile robot projects, and it also works as an STM32 core development board. It integrates an STM32 core control unit and an on-board 9-axis IMU attitude sensor, and provides interfaces for 4-channel encoder motors, 4-channel PWM servos, serial bus servos, and RGB light bars. It supports communication and power cooperation with Raspberry Pi 5 (including Raspberry Pi 5 power supply protocol), Jetson series boards, RDK series boards (including RDK X3), and industrial computers.
Key Features
- Board version: V3.0 (third-generation upgrade).
- Supports ROS1 and ROS2; provides ROS1/ROS2 function package and SDKs for both systems (as stated by the manufacturer).
- On-board 9-axis IMU attitude sensor (V3.0 upgrade uses the ICM20948 solution).
- STM32 core control unit with STM32F103RCT6 MCU.
- Motor control: 4-channel motor interface, supports 4-channel encoder motors, and supports 4-channel encoder speed reading; PID can be used for motor speed control (as stated).
- Servo control: 4-channel PWM servo interface; supports serial bus servo. The single-channel serial bus servo interface supports cascading up to 6 serial bus servos (as stated).
- Communication methods: USB serial communication, CAN bus communication, SBUS bus communication.
- Vehicle structure support (as stated): 2-wheel drive, 4-wheel drive, Mecanum wheel, Ackerman steering.
- Protections (as stated): short-circuit protection, over-current protection, reverse-connection protection.
Specifications
| Product | ROS robot control board / STM32 ROS robot expansion board |
| Version | V3.0 |
| Board marking | YB-ERF01-V3.0 |
| MCU model | STM32F103RCT6 |
| MCU kernel | Cortex M3 R1P1 |
| GPIO quantity | 51 |
| Interface resources (MCU) | 2 x SPI, 3 x USART, 2 x I2C, 2 x I2S, 1 x CAN, 51 x I/O, 2 x DAC |
| Timer | 8 |
| Internal Flash | 256KB |
| SRAM | 48KB |
| Voltage range | External voltage: 2.0-3.6V; Core voltage: 1.8V |
| Pin package | LQFP64 |
| Compilation tools | KEIL MDK, STM32CubeMX etc. |
| IMU | 9-axis IMU attitude sensor (V3.0: ICM20948 solution) |
| IMU I2C communication rate | 100kHz |
| IMU data read rate | 100Hz |
| Number of sensor axes | 9Axis |
| Motor interfaces | 4-channel motor interface; supports 4-channel encoder motors; 4-channel encoder speed reading |
| Servo interfaces | 4-channel PWM servo interface; single-channel serial bus servo interface (supports cascade up to 6PCS serial bus servos) |
| Communication | USB serial communication; CAN bus communication; SBUS bus communication |
| Input voltage | 12V |
| Power output (as shown) | 5.1V/5A power supply to Raspberry Pi 5 (Raspberry Pi 5 power supply protocol) |
| USB peripheral current note (as stated) | When Raspberry Pi 5 detects the exclusive power supply protocol, peripheral USB current increases to 1.6A; otherwise it is limited to 0.6A |
| Power supply interface output (as shown) | Jetson Nano B01 (5V); Raspberry Pi 5 / RDK series (5V); Power supply for external devices (12V); Jetson Xavier NX / Jetson Orin Nano / Jetson Orin NX (12V) |
| Load current limit note (as stated) | When using the DC5.5*2.1 interface and Type-C interface 5V output power supply at the same time, the total load current cannot exceed 5A |
Applications
- ROS robot car driver/expansion board for mobile robots
- Encoder motor + PID speed control projects (4-channel)
- Servo and serial bus servo control for robotic steering, pan/tilt, and actuators
- CAN / USB serial / SBUS integration for robotics control systems
- Raspberry Pi 5, Jetson series, RDK series (RDK X3) robotics controller expansions
Manuals
Tutorial: http://www.yahboom.net/study/ROS-Driver-Board
For compatibility, wiring, and project integration questions, contact https://rcdrone.top/ or email support@rcdrone.top.
Details
Build ROS robot cars and mobile robots across common chassis styles, from small rovers to multi-leg platforms.
A single control board combines the STM32 core controller and a 9-axis IMU for motion and attitude sensing in ROS projects.
The V3.0 revision updates the hardware platform while keeping a compact layout for stacking with host computers.
Motor, servo, and communication interfaces are supported alongside built-in protections such as reverse-connection and over-current safeguards.
Version comparison details the added Raspberry Pi 5 power protocol support and the upgraded 9-axis IMU solution in V3.0.
Raspberry Pi 5 power cooperation helps deliver stable power to USB peripherals when used with the compatible supply protocol.
The onboard STM32F103RCT6 provides ample GPIO and common buses for robotics control and peripheral expansion.
ROS1 and ROS2 development is supported across popular hosts such as Raspberry Pi, Jetson, and RDK series boards.
Stacking and cabling examples illustrate how the board connects for power and data with Raspberry Pi and Jetson platforms.
RDK series integration includes stacked mounting and Type‑C connection options for power and communication.
Choose between USB serial, CAN bus, or SBUS to match the control and telemetry needs of your robot platform.
IMU data can be used for attitude estimation and visualization in ROS during navigation and motion control.
Multiple power outputs simplify wiring for 5V host boards and 12V peripherals while using a 12V main input.
Drive up to four encoder motors and control PWM or serial bus servos for steering, arms, and other actuators.
Fits common mobile base designs including differential drive, mecanum, and Ackerman steering layouts.
Abundant onboard interfaces make it easier to add displays, lighting, and control buses without extra adapter boards.
Optional 15KG, 20KG, and 25KG steering gear servos are available for setups that need higher torque.
A 15KG serial bus smart servo option is available for builds that need higher-torque actuation.
Optional RGB light strips are available to add colorful lighting to your setup.
The YB-ERF01 V3.0 control board integrates reverse-polarity, short-circuit, and over-current protection with dual step-down power regulation for stable system power.
Yahboom YB-ERF01 V3.0 is used in a range of builds, including ROS robot cars, multifunctional composite robots, Ackerman racing cars, and self-driving robot cars.
The ROS robot control board comparison outlines key differences between the STM32F103RCT6 and ESP32-S3 options, including ROS version support and available interfaces.
Yahboom YB-ERF01 V3.0 control board comes with open-source materials and driver routines for common robot peripherals like motors, PWM servos, and sensors.
Yahboom provides a tutorial link plus downloadable STM32 driver and ROS1/ROS2 packages to support setup and development.
Yahboom’s bundled resources include ROS1 and ROS2 basic course folders, English-subtitled video tutorials, and supporting documentation for setup and learning.
The YB-ERF01 V3.0 control board provides labeled connections for 12V/5V power, USB data, CAN, I2C, motor outputs, and servo interfaces to simplify ROS robot wiring.
The YB-ERF01 V3.0 ROS robot control board uses an STM32F103RCT6 MCU and a compact 85×56 mm footprint for tidy integration with compatible Raspberry Pi and Jetson setups.
The STM32 ROS robot control board kit includes a micro-USB data cable, Type‑C power cable, DC power cable, screw posts, and an optional 0.91-inch OLED display.
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