2.0 Build on ROS2 - SwollEngineAF/lipan GitHub Wiki
๐ค Build a Mobile Robot with ROS 2
๐ 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
๐งช 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.)
๐ ๏ธ URDF Design
- Build robot model using Xacro
- Include joints, links, camera and sensor frames
- Visualize in RViz2 and test TF frames
๐ 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
โ๏ธ Hardware Setup
๐ง Raspberry Pi as Robot Brain
- ROS 2 node deployment + serial bridge to Arduino
- OAK-D integration with DepthAI SDK
๐ Arduino for Peripheral Control
- Control servo-based robot arm (PCA9685)
- Use HW-130 motor shield for differential drive
๐ Power & Wiring
- Plan 5V/12V/24V rails and grounding
- Safe wire routing and casing for field deployment
๐ก Sensors
- Add LiDAR, Pixy2, and depth camera
- Verify data stream and topic publishing
๐ง Applications
ros2_control
Integration
๐ง - Configure joint controllers
- Simulate and deploy trajectory actions
๐น๏ธ Teleop & Joystick
- Manual control using ROS 2 teleop package
- Switch between manual and auto modes
๐ฏ Object Detection & Tracking
- Use OpenCV + Pixy2 for real-time targeting
- Command arm to grab detected objects
โ This section is being actively developed. Diagrams, code snippets, and videos will be added progressively. Stay tuned!