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部分都是ROS2软件与物理电机之间的接口。新型机器人通常采用任意且混杂的闭源与开源电机驱动器组合，并配合易出错的物理安装、布线和连接器来实现接口对接。目前亟需一种标准化的开源硬件组件来抽象化这种复杂性，正如Arduino在小型组件接口领域所发挥的作用。我们提出一种开源硬件印刷电路板，以期一劳永逸地解决该问题。在高层接口方面，该电路板可与Arduino Giga连接（作为异常庞大且坚固的扩展板），进而对接现有开源ROS软件栈；在底层接口方面，它可与包括开源电机驱动器和继电器在内的新兴标准开源硬件连接，这些硬件已可用于驱动全开源轮式与臂式机器人。这使构建标准化、全开源、完全可复现的研究平台体系成为可能。