🤖 Build a Mobile Robot with ROS 2

📌 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

🧪 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.)

🛠️ URDF Design

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

🌍 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

⚙️ Hardware Setup

🧠 Raspberry Pi as Robot Brain

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

📟 Arduino for Peripheral Control

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

🔋 Power & Wiring

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

📡 Sensors

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

🧠 Applications

🔧 ros2_control Integration

• Configure joint controllers
• Simulate and deploy trajectory actions

🕹️ Teleop & Joystick

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

🎯 Object Detection & Tracking

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

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