Mobile Robotics Platform running on ROS2, capable of running SLAM and autonomously navigating a space.
A combination of low-level C microcontroller code, electrical design, 3D-printing, low-level C++ custom ROS2 nodes and high-level Python scripts.
Once complete, this repo will be updated with more media.
- Small form factor: 20cm diameter circle footprint
- 3D printed housing with levels to house each
- Custom PCB in the works that integrates ESP32-S3-WROOM-1 with DRV8871 motor drivers to connect with 12V system and one JST connector per motor for ease of wiring
- In progress. Current version uses breakout board versions of the components
- Custom 3S2P 18650 battery in the works
- Utilizes ESP32 for low-level operations, such as driving motors or calculating motor velocities
- Raspberry Pi 5 16GB runs Ubuntu 24.04 with ROS 2 Jazzy
- YDLIDAR G4 for LiDAR localization and mapping
- RealSense D435 for obstacle detection
- ROS2 Jazzy, running Ubuntu 24.04 with real-time kernel
- Utilizing realsense-ros node and ydlidar_ros2_driver
- In progress: Custom-built node to interface with ESP32. Current version uses Josh Newan's code to communicate with Arduino
- Nav2 node used for navigating between points
- slam_toolbox used for mapping
- The V1/ folder has images and videos of the V1 robot
- The V2/ folder has current progress of the V2 robot, such as PCB progress, chassis design and more to come!