# Waveshare RaspRover > Open-source 4WD AI robot with dual-controller architecture (ESP32 + Raspberry Pi), 5MP 160-degree camera, pan-tilt module, audio system, computer vision via OpenCV/MediaPipe, and ROS2 support for AI robotics education. ## Quick Facts - **Brand:** Waveshare - **Board Type:** robot-platform - **Price:** ~$174.99 - **Product Readiness:** consumer - **CPU:** ESP32-WROOM-32 + Raspberry Pi 4B/5 - **CPU Architecture:** Xtensa LX6 dual-core - **CPU Cores:** 2 - **RAM:** 520KB SRAM - **PSRAM:** N/A - **Flash:** 4MB - **USB:** USB-C (CH340) - **Power:** 3S 18650 Li-ion UPS - **Operating Voltage:** 3.3V - **Dimensions:** 172.40 x 182.91 x 251.25mm - **Weight:** 1330g - **Antenna:** IPEX1 - **SD Card:** microSD - **Display:** 0.96" OLED 128x64 ## Connectivity - **Wifi:** 802.11 b/g/n - **Bluetooth:** BLE 4.2 ## Open Source - **Firmware:** Yes - **Schematics:** Yes - **PCB Layout:** No ## Compatible Firmware arduino, esp-idf, micropython, ros2 ## Use Cases - mobile-robot - computer-vision - autonomous-navigation - stem-kit - voice-assistant - ros2-robot ## Components - **ESP32-WROOM-32** (mcu): Dual-core WiFi & Bluetooth sub-controller for motion and sensor processing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.espressif.com%2Fsites%2Fdefault%2Ffiles%2Fdocumentation%2Fesp32-wroom-32_datasheet_en.pdf&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **TB6612FNG** (motor-driver): Dual H-bridge MOSFET motor driver for 4 N20 encoder motors — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.sparkfun.com%2Fdatasheets%2FRobotics%2FTB6612FNG.pdf&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **ICM-20948** (imu): 9-axis IMU (accel + gyro + magnetometer) for motion sensing and stabilization — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Finvensense.tdk.com%2Fwp-content%2Fuploads%2F2016%2F06%2FDS-000189-ICM-20948-v1.3.pdf&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **INA219** (current-sensor): I2C voltage/current/power monitor for battery management — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.ti.com%2Flit%2Fds%2Fsymlink%2Fina219.pdf&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **SSS1629A5** (audio-controller): USB audio controller IC for speaker and microphone — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **APA2068** (audio-amplifier): Audio amplifier for dual-track speaker output — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **FE1.1S** (usb-hub): 4-port USB 2.0 hub controller for peripheral management — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **CH340** (usb-uart): USB-to-serial converter for LIDAR UART data — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **ST3215** (servo): Serial bus servo for pan-tilt, 20 kg.cm torque (PT versions) — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FST3215_Servo&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - **5MP Wide-Angle Camera** (camera): 5MP ultra-wide-angle camera with 160 degree FOV for computer vision — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) ## Protocols - **I2C** - **UART** - **SPI** - **PWM** - **ESP-NOW** - **USB** ## GPIO Map | Pin | Name | Type | Functions | |-----|------|------|-----------| | GPIO25 | Motor A PWM | — | — | | GPIO26 | Motor B PWM | — | — | | GPIO17 | Motor A direction | — | — | | GPIO21 | Motor A direction | — | — | | GPIO22 | Motor B direction | — | — | | GPIO23 | Motor B direction | — | — | | GPIO32 | I2C SDA | — | — | | GPIO33 | I2C SCL | — | — | | GPIO18 | Servo UART RXD | — | — | | GPIO19 | Servo UART TXD | — | — | ## Accessories - external-antenna - Raspberry Pi - Raspberry Pi 4B ## Available Software - **[ugv_base_general](https://openhardware.directory/r?to=https%3A%2F%2Fgithub.com%2Fwaveshareteam%2Fugv_base_general&ref=openhardware.directory&product=waveshare-rasprover&source=md-export)**: ESP32 Arduino firmware for motion control, sensors, and ESP-NOW - **[ugv_rpi](https://openhardware.directory/r?to=https%3A%2F%2Fgithub.com%2Fwaveshareteam%2Fugv_rpi&ref=openhardware.directory&product=waveshare-rasprover&source=md-export)**: Raspberry Pi Python software with ROS2, OpenCV, and web interface - **[Jupyter Lab](undefined)**: Interactive programming environment - **[Flask Web App](undefined)**: WebRTC-based control interface ## Description # Waveshare RaspRover The Waveshare RaspRover is an open-source 4WD AI robot designed for robotics education and AI application development. It uses the same dual-controller architecture as its larger sibling, the UGV Rover, pairing an ESP32 sub-controller with a Raspberry Pi 4B or 5 host computer in a more compact form factor. ## Dual-Controller Architecture The ESP32 handles real-time motion control with PID closed-loop speed regulation for four N20 encoder motors, while processing data from the ICM-20948 9-axis IMU and INA219 battery monitor. The Raspberry Pi runs Debian Bookworm with ROS2 Humble LTS, handling computer vision, web serving, and AI workloads. ## Vision & Audio System The 5MP camera (160-degree FOV) connects via CSI on Pi 4B or USB on Pi 5. An optional 2-DOF pan-tilt module with ST3215 bus servos (20 kg.cm torque) provides camera articulation with IMU-based stabilization. The onboard audio system includes an SSS1629A5 USB audio controller, APA2068 amplifier, dual-track speaker output, and integrated microphone, enabling voice interaction applications. ## Computer Vision OpenCV and MediaPipe power the vision pipeline: color recognition and targeting, face detection with automatic photo/video capture, multi-object recognition, gesture recognition, and vision-based line tracking for autonomous driving. All features are accessible through a Flask-based web application with WebRTC video streaming. ## Communication WiFi and Bluetooth from the ESP32, plus ESP-NOW for robot-to-robot coordination with approximately 100-microsecond latency. The web control interface requires no software installation. A wireless gamepad is included for manual control. ## Power & Expansion A 3S UPS module runs on three 18650 batteries (sold separately) with simultaneous charge/discharge capability. The 40-pin GPIO header connects to the Raspberry Pi (UART preserved), with additional I2C expansion interfaces, bus servo ports, and mounting compatibility for D500/STL27L LIDAR modules and 4G/5G cellular expansion. ## Where to Buy - [Waveshare](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Frasprover.htm&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) — $174.99 ## Resources - [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Frasprover.htm&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - [github](https://openhardware.directory/r?to=https%3A%2F%2Fgithub.com%2Fwaveshareteam%2Fugv_rpi&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - [wiki](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRaspRover&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) - [schematics](https://openhardware.directory/r?to=https%3A%2F%2Ffiles.waveshare.com%2Fwiki%2FRaspRover%2FROS_Driver_for_Robots.pdf&ref=openhardware.directory&product=waveshare-rasprover&source=md-export) ## Tags `robotics`, `ai-robot`, `esp32`, `raspberry-pi`, `ros2`, `computer-vision`, `4wd`, `open-source`, `stem`, `audio` ## Images ![Waveshare RaspRover](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-rasprover/c5190f6ebae4.jpg) ![Waveshare RaspRover](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-rasprover/7e7a867af2d8.jpg) ![Waveshare RaspRover](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-rasprover/bab8966b62e5.jpg) --- [View full device page](https://openhardware.directory/devices/waveshare-rasprover)