A key component of any robot is the interface between ROS2 software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and connectors to interface them. There is a need for a standardizing OSH component to abstract this complexity, as Arduino did for interfacing to smaller components. We present a OSH printed circuit board to solve this problem once and for all. On the high-level side, it interfaces to Arduino Giga -- acting as an unusually large and robust shield -- and thus to existing open source ROS software stacks. On the lower-level side, it interfaces to existing emerging standard open hardware including OSH motor drivers and relays, which can already be used to drive fully open hardware wheeled and arm robots. This enables the creation of a family of standardized, fully open hardware, fully reproducible, research platforms.

翻译：任何机器人的关键组成要素是ROS2软件与物理电机之间的接口。新型机器人常采用混杂的封闭式与开放式电机驱动器，配合易出错的物理安装、布线和连接器进行接口对接。亟需一种标准化的开源硬件组件来抽象这种复杂性，正如Arduino在小型组件接口领域所做的那样。我们提出一款开源硬件印刷电路板，一劳永逸地解决该问题。在高层接口端，该电路板与Arduino Giga连接（作为异常庞大且稳健的扩展板），进而对接现有开源ROS软件栈；在低层接口端，它连接至包括开源电机驱动器和继电器在内的新兴标准开源硬件——这些组件已可驱动完全开源的轮式与机械臂机器人。这为构建一系列标准化、完全开源、可完全复现的研究平台奠定了基础。