# Waveshare UGV Beast

> Open-source ROS2 AI robot with tracked chassis, Raspberry Pi 4B/5, ESP32 sub-controller, 5MP camera with pan-tilt, IMU, and support for LiDAR expansion. Programmable via Python, OpenCV, and ROS2.

## Quick Facts

- **Brand:** Waveshare
- **Board Type:** robot
- **Price:** ~$749
- **Product Readiness:** diy-kit
- **CPU:** Broadcom BCM2711 / BCM2712
- **CPU Architecture:** ARM Cortex-A72 / Cortex-A76
- **CPU Cores:** 4
- **RAM:** 4GB
- **Flash:** microSD (via Raspberry Pi)
- **Power:** 3S 18650 UPS module (11.1V)
- **Operating Voltage:** 3.3V / 5V
- **Antenna:** Built-in PCB antenna
- **SD Card:** microSD

## Connectivity

- **Wifi:** 802.11 b/g/n/ac
- **Bluetooth:** BLE 5.0

## Open Source

- **Firmware:** Yes
- **Schematics:** Yes
- **PCB Layout:** No

## Compatible Firmware

ROS2, Python, OpenCV

## Use Cases

- robotics
- education
- autonomous-vehicle
- ros2
- computer-vision
- ai

## Components

- **5MP Ultra-Wide Camera** (Camera): Ultra-wide-angle camera with 160° field of view for computer vision tasks including object tracking, face detection, and gesture recognition — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FUGV-Beast&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **ICM-20948** (IMU): InvenSense ICM-20948 9-axis inertial measurement unit combining 3-axis accelerometer, gyroscope, and magnetometer for attitude sensing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Finvensense.tdk.com%2Fproducts%2Fmotion-tracking%2F9-axis%2Ficm-20948%2F&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **ESP32** (MCU): ESP32 microcontroller handling motor PID control, sensor processing, and ESP-NOW multi-robot communication — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.espressif.com%2Fsites%2Fdefault%2Ffiles%2Fdocumentation%2Fesp32_datasheet_en.pdf&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **ST3215** (Servo): Waveshare ST3215 servo with 30KG.CM torque powering the 2-axis pan-tilt camera module — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FST3215_Servo&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **OLED Display** (Display): Small OLED display for real-time robot status monitoring — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FUGV-Beast&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **Microphone** (Audio): Built-in microphone for audio input capabilities — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FUGV-Beast&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- **INA219** (Power Monitor): Texas Instruments INA219 high-side current shunt and power monitor for battery voltage and current sensing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.ti.com%2Fproduct%2FINA219&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)

## Protocols

- **I2C**
- **UART**
- **SPI**
- **GPIO**
- **ESP-NOW**

## Description

# Waveshare UGV Beast

The Waveshare UGV Beast is an open-source unmanned ground vehicle built around a tracked chassis with independent suspension. It combines a Raspberry Pi (4B or 5) as the main controller with an ESP32 for motion control and sensor processing.

## Key Features

- **ROS2 Humble LTS** support on Debian Bookworm
- **5MP ultra-wide-angle camera** with 160° FOV on a 2-axis pan-tilt module (ST3215 servo, 30KG.CM torque)
- **Computer vision** via OpenCV and MediaPipe: object tracking, face detection, gesture recognition
- **ICM20948 9-axis IMU** for attitude sensing
- **WebRTC** ultra-low latency video streaming via Flask web app
- **ESP-NOW** multi-robot communication with 100μs latency
- **High-frequency PID** closed-loop motor control
- **Jupyter Lab** interactive programming environment
- **Multiple control methods**: web app, keyboard (WASD), gamepad, Jupyter Lab

## Expansion

- D500 LiDAR mounting capability
- 4G/5G module support
- 40-pin GPIO header for peripherals
- M2.5 mounting holes for accessories

## Specifications

| Spec | Value |
|------|-------|
| Main Controller | Raspberry Pi 4B (4GB) or Pi 5 |
| Sub Controller | ESP32 |
| Camera | 5MP, 160° FOV |
| IMU | ICM20948 (9-axis) |
| Pan-Tilt Servo | ST3215, 30KG.CM |
| Max Speed | 0.35 m/s |
| Track Width | 40mm |
| Turning Radius | 0m (in-situ rotation) |
| Battery | 3S UPS module (18650 cells, not included) |
| Dimensions (PT) | 232 × 197 × 252 mm |
| Weight (PT) | 2350 ± 5g |

## Where to Buy

- [OpenElab](https://openhardware.directory/r?to=https%3A%2F%2Fopenelab.io%2Fproducts%2Fwaveshare-ugv-beast-ros2-robot&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export) — $749

## Resources

- [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fugv-beast.htm&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)
- [wiki](https://openhardware.directory/r?to=http%3A%2F%2Fwww.waveshare.com%2Fwiki%2FUGV-Beast&ref=openhardware.directory&product=waveshare-ugv-beast&source=md-export)

## Tags

`ros2`, `raspberry-pi`, `esp32`, `tracked-robot`, `autonomous-vehicle`, `computer-vision`, `open-source`, `ai-robot`, `pan-tilt`, `ugv`

## Images

![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/cdd41cfa253e.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/7ac48a090ada.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/86b7610ed732.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/be8a193b190b.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/91a452d7fde9.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/786f6537a250.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/8d1493588fee.jpg)
![Waveshare UGV Beast](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ugv-beast/d536753ace04.jpg)

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