2.0 Build on ROS2 - SwollEngineAF/lipan GitHub Wiki

๐Ÿค– Build a Mobile Robot with ROS 2

๐Ÿ“Œ Project Overview

  • End-to-end mobile robot deployment from simulation to real hardware
  • Tested with ROS 2 Jazzy, Gazebo Harmonic, and WSL2
  • Modular design: platform, arm, vision, and mobility

๐Ÿงช Concept Design

  • Define robot use-case and operating terrain
  • Plan wheelbase size, DOF for arm, and sensor placements
  • Choose compute units (Raspberry Pi, Arduino, etc.)

๐Ÿ› ๏ธ URDF Design

  • Build robot model using Xacro
  • Include joints, links, camera and sensor frames
  • Visualize in RViz2 and test TF frames

๐ŸŒ Gazebo Simulation

  • Load robot into custom worlds (palm trees, obstacles)
  • Use Gazebo Harmonic (gz sim) for visual and physical accuracy
  • Insert slope, terrain, and test mobility + detection in sim

โš™๏ธ Hardware Setup

๐Ÿง  Raspberry Pi as Robot Brain

  • ROS 2 node deployment + serial bridge to Arduino
  • OAK-D integration with DepthAI SDK

๐Ÿ“Ÿ Arduino for Peripheral Control

  • Control servo-based robot arm (PCA9685)
  • Use HW-130 motor shield for differential drive

๐Ÿ”‹ Power & Wiring

  • Plan 5V/12V/24V rails and grounding
  • Safe wire routing and casing for field deployment

๐Ÿ“ก Sensors

  • Add LiDAR, Pixy2, and depth camera
  • Verify data stream and topic publishing

๐Ÿง  Applications

๐Ÿ”ง ros2_control Integration

  • Configure joint controllers
  • Simulate and deploy trajectory actions

๐Ÿ•น๏ธ Teleop & Joystick

  • Manual control using ROS 2 teleop package
  • Switch between manual and auto modes

๐ŸŽฏ Object Detection & Tracking

  • Use OpenCV + Pixy2 for real-time targeting
  • Command arm to grab detected objects

โœ… This section is being actively developed. Diagrams, code snippets, and videos will be added progressively. Stay tuned!