🔧 DuaLipan Robot Simulation & Build Wiki

Welcome to the official documentation for building and simulating mobile robots using ROS 2 Jazzy, Gazebo Harmonic, and WSL2. This wiki is designed for:

🔰 Beginners who want a smooth setup 🧑‍💻 Developers transitioning to ROS 2 🤖 Engineers building real robots with Gazebo simulation and Arduino integration

---

📁 Table of Contents

🚀 1. [ROS2 Environment Setup]

Step-by-step instructions to get ROS 2 + Gazebo working on Windows using WSL2.

🤖 2. [Build a Mobile Robot (Project Walkthrough)]

• Concept design
• URDF building
• Sensor integration
• Real-hardware deployment

🔧 3. [PlatformIO: Arduino Deployment]

Deploy and test your embedded code for Lipan’s robot arm and wheels using PlatformIO + VSCode.

🔌 4. [Arduino Uno + PCA9685 Servo Driver Wiring]

Detailed wiring reference between Arduino and PCA9685 for servo control.

📸 5. [Pixy2 Camera Integration Guide]

Integrate and automate object tracking using Pixy2 with Raspberry Pi and Arduino.

⚡ 6. [HW-130 Motor Driver – Arduino Integration Guide]

Wiring, logic, and example code for using HW-130 with Arduino for DC motor control.

---

🛠️ Tools We Use

• ROS 2 Jazzy
• Gazebo Harmonic (gz sim)
• Ubuntu 24.04 (WSL2)
• Visual Studio Code + PlatformIO
• GitHub

---

🙋‍♂️ Questions or Issues?

If you face any issues, open a GitHub Discussion or refer to the Troubleshooting section in each page.

---