Skip to content

Roblibs/rovi_ros_ws

BranchesTags

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

190 Commits
docs
docs
 
 
src
src
 
 
tools
tools
 
 
.gitignore
.gitignore
 
 
AGENTS.md
AGENTS.md
 
 
LICENSE
LICENSE
 
 
README.md
README.md
 
 
pyproject.toml
pyproject.toml
 
 
rovi_env.sh
rovi_env.sh
 
 
uv.lock
uv.lock
 
 

Repository files navigation

rovi_ros_ws

ROVI is the short name of "Room View Bot", a ROS robot platform for indoor virtual presence in homes and rooms, mostly flat ground. ROVI is based on the Yahboom X3+ chassis and control board equipped with mecanum wheels, a lidar depth camera, and a stereo camera. Videos, gallery, and more details about the robot hardware are available on this wiki page https://homesmartmesh.github.io/robotics/room-view-bot/

This repo provides a ROS2 Jazzy software stack that covers multiple run modes including simulation.

This project is still in development; the current stage is functional navigation with LiDAR on the real robot and in simulation.

Related projects:

Usage

Before first time usage, start with the install section

Main Operation commands, for the full list of commands see the commands section

Tables with the full list of packages, launches, nodes and params are also available in the reference section.

Command Description
sim PC Simulation: sim (default mapping) or `sim teleop
view PC view: view (default nav) or `view teleop
teleop Robot (Pi): runs rovi_bringup/rovi.launch.py with robot_mode:=real stack:=teleop (headless; no RViz).
nav Robot (Pi): runs rovi_bringup/rovi.launch.py with robot_mode:=real stack:=nav (headless; no RViz).
tools/robot_display_setup.py One-time (run with sudo): installs udev rule /dev/robot_display for the ESP32-S3 display.

Install

uv needed by the robot for control board python dependencies

curl -LsSf https://astral.sh/uv/install.sh | sh

  • clone this repo under ~/dev/Roblibs/rovi_ros_ws change it then run uv sync

  • Install the required ROS packages

sudo apt install -y \
  libsdformat14 \
  ros-jazzy-joy \
  ros-jazzy-teleop-twist-joy \
  ros-jazzy-twist-mux \
  ros-jazzy-rosbag2 \
  ros-jazzy-rosbag2-compression-zstd \
  ros-jazzy-diagnostic-updater \
  python3-psutil \
  ros-jazzy-robot-state-publisher \
  ros-jazzy-joint-state-publisher-gui \
  ros-jazzy-rviz2 \
  ros-jazzy-foxglove-bridge \
  ros-jazzy-rplidar-ros \
  ros-jazzy-slam-toolbox \
  ros-jazzy-robot-localization \
  ros-jazzy-nav2-bringup \
  ros-jazzy-nav2-rviz-plugins \
  ros-jazzy-imu-filter-madgwick

Config in ~/.bashrc

Add these lines to your real ~/.bashrc:

export ROVI_ROS_WS_DIR="$HOME/dev/Roblibs/rovi_ros_ws"
# Example: pin Gazebo Transport to a stable local IPv4
export GZ_IP="<your-ipv4>"
source "$ROVI_ROS_WS_DIR/rovi_env.sh"

wsl

When using Windows Subsystem for Linux, it is necessary to ensure the following:

  • Windows Network: network is private, not public.
  • WSL Settings: Networking, Networking mode 'Mirrored'
  • Firewall config :
Set-NetConnectionProfile -InterfaceAlias "WiFi" -NetworkCategory Private

New-NetFirewallRule -DisplayName "Allow ICMPv4 Echo from robot" -Direction Inbound -Action Allow -Protocol ICMPv4 -IcmpType 8 -RemoteAddress 10.0.0.180 -Profile Private

New-NetFirewallRule -DisplayName "Allow ROS2 DDS UDP from robot" -Direction Inbound -Action Allow -Protocol UDP -LocalPort 7400-7600 -RemoteAddress 10.0.0.180 -Profile Private

USB management in WSL:

usbipd bind --busid 2-4
usbipd attach --wsl --busid 2-4
usbipd detach --busid 2-4

In WSL or Linux:

sudo usermod -a -G dialout "$USER"

Diagrams

Unified Robot Interface

Command Interface and Feedback Interface are the contractual topics used by both the real robot and the simulation.

flowchart TB

    TELEOP["Teleop (joystick/keyboard)"]
    NAV2["Nav2"]
    GUI["State Gui"]

  subgraph L2["Command interface"]
    direction TB
    CMD(["/cmd_vel<br/>(Twist)"])
  end

  subgraph L3["robot_mode"]
    BACKEND["real | sim"]
    OFFLINE[offline]
  end

  subgraph L4["Feedback  interface"]
    direction TB
    SCAN(["/scan<br/>(LaserScan)"])
    IMU_RAW(["/imu/data_raw<br/>(Imu)"])
    VRAW(["/vel_raw<br/>(Twist)"])
    ODRAW(["/odom_raw<br/>(Odometry)"])
    CLOCK(["/clock<br/>(Clock, sim only)"])
    TF(["/tf"])
  end

  TELEOP --> CMD
  NAV2 --> CMD

  GUI --> OFFLINE

  CMD --> BACKEND

  BACKEND --> SCAN
  BACKEND --> IMU_RAW
  BACKEND --> VRAW
  BACKEND --> ODRAW
  BACKEND --> CLOCK

  BACKEND --> TF
  OFFLINE --> TF
Loading

UI bridge (gRPC)

ros_ui_bridge subscribes to ROS topics for robot state/telemetry and exposes them over gRPC (plus a few ROS viz helper topics). Topics shown match src/ros_ui_bridge/config/default.yaml.

flowchart LR

  SYS_CPU("system: cpu_percent (psutil)")
  TOPIC_SCAN[("/scan<br/>(LaserScan)")]
  TOPIC_ODOM[("/odom_raw<br/>(Odometry)")]
  TOPIC_JOINTS[("/joint_states<br/>(JointState)")]
  TOPIC_TF[("/tf<br/>(TFMessage)")]
  TOPIC_MAP[("/map<br/>(OccupancyGrid)")]
  TOPIC_VOLTAGE[("/voltage<br/>(Float32)")]
  TOPIC_VIZ_SCAN[("/viz/scan<br/>(LaserScan)")]
  TOPIC_VIZ_TF[("/viz/tf/{parent}_{child}<br/>(TFMessage)")]

  subgraph BRIDGE["ros_ui_bridge (single process)"]
    direction TB
    NODE_LIDAR("ui_bridge_lidar")
    NODE_MAP("ui_bridge_map")
    NODE_STATE("ui_bridge_robot_state")
    NODE_METRICS("ui_bridge_metrics")
    NODE_STATUS("ui_bridge_node (status publish loop)")
    NODE_MODEL("RobotModelProvider")
    NODE_GRPC("gRPC: UiBridge service")
    MODEL_GLB("robot model: package://rovi_description/models/rovi.glb (+ .meta.json)")
  end

  subgraph CONSUMERS["Consumers"]
    direction TB
    RVIZ(rviz2)
    UI_CLIENTS("UI clients (web/desktop)")
    DISPLAY_CLIENT("robot_serial_display (ESP32 display)")
    Plot
  end

  %% Lidar: ROS -> (throttle) -> ROS + gRPC
  TOPIC_SCAN -->|subscribe| NODE_LIDAR
  NODE_LIDAR -->|"publish (throttled)"| TOPIC_VIZ_SCAN
  NODE_LIDAR -->|StreamLidar| NODE_GRPC
  TOPIC_VIZ_SCAN -->|subscribe| RVIZ

  %% Map: ROS -> gRPC
  TOPIC_MAP -->|subscribe| NODE_MAP
  NODE_MAP -->|StreamMap| NODE_GRPC

  %% Robot state: ROS -> gRPC
  TOPIC_ODOM -->|subscribe| NODE_STATE
  TOPIC_JOINTS -->|subscribe| NODE_STATE
  TOPIC_TF -->|"subscribe (map->odom)"| NODE_STATE
  NODE_STATE -->|StreamRobotState| NODE_GRPC

  %% Status: system + ROS metrics -> gRPC
  SYS_CPU -->|sample| NODE_STATUS
  TOPIC_VOLTAGE -->|"subscribe (value + rate)"| NODE_METRICS
  TOPIC_ODOM -->|"subscribe (rate)"| NODE_METRICS
  TOPIC_SCAN -->|"subscribe (rate)"| NODE_METRICS
  TOPIC_TF -->|"subscribe (tf_rate + demux)"| NODE_METRICS
  NODE_METRICS -->|"publish (demux)"| TOPIC_VIZ_TF
  NODE_METRICS -->|values + rates| NODE_STATUS
  NODE_STATUS -->|GetStatus + StreamStatus| NODE_GRPC
  TOPIC_VIZ_TF -->|subscribe| Plot

  %% Robot model: file -> gRPC
  MODEL_GLB -->|load| NODE_MODEL
  NODE_MODEL -->|GetRobotModelMeta + GetRobotModel| NODE_GRPC

  %% gRPC: server -> clients
  NODE_GRPC -->|gRPC| UI_CLIENTS
  NODE_GRPC -->|gRPC| DISPLAY_CLIENT
Loading

Real robot

robot_mode=real

flowchart TD
  CMD(["/cmd_vel<br/>(Twist)"])
  Rosmaster["rosmaster_driver<br>(control board)"]
  CMD -->|subscribe| Rosmaster

  EDT(["/edition<br/>(Float32)"])
  VOL(["/voltage<br/>(Float32)"])
  VRAW(["/vel_raw<br/>(Twist)"])
  JSTATE(["/joint_states<br/>(JointState)"])
  ENC(["/encoders<br/>(Int32MultiArray)"])
  IMU_RAW(["/imu/data_raw<br/>(Imu)"])
  MAG(["/imu/mag<br/>(MagneticField)"])
  Rosmaster -->|publish| EDT
  Rosmaster -->|publish| VOL
  Rosmaster -->|publish| VRAW
  Rosmaster -->|publish| ENC
  Rosmaster -->|publish| JSTATE
  Rosmaster -->|publish| IMU_RAW
  Rosmaster -->|publish| MAG

  RoviOdom["rovi_odom_integrator"]
  VRAW -->|subscribe| RoviOdom
  ODRAW(["/odom_raw<br/>(Odometry)"])

  subgraph TF["/tf"]
    TF_ODOM_BASE("odom->base_footprint")
    TF_LINKS_JOINTS("links/joints")
  end

  RoviOdom -->|publish| ODRAW
  RoviOdom -->|publish| TF_ODOM_BASE

  RSP["robot_state_publisher"]
  JSTATE -->|subscribe| RSP
  RSP -->|publish| TF_LINKS_JOINTS

  RPLidar["rplidar_ros (LiDAR device)"]
  SCAN(["/scan<br/>(LaserScan)"])
  RPLidar -->|publish| SCAN
Loading

Gazebo Simulation

robot_mode=sim

In this mode, the real robot is replaced by a Gazebo simulation while rovi_localization / rovi_slam / rovi_nav remain unchanged.

flowchart TD
  CMD(["/cmd_vel<br/>(Twist)"])

  RoviSimBase["rovi_sim_base<br/>(holonomic base + accel limits)"]
  CMD -->|subscribe| RoviSimBase
  CMD_SIM(["/cmd_vel_sim<br/>(Twist)"])
  VRAW(["/vel_raw<br/>(Twist)"])
  RoviSimBase -->|publish| CMD_SIM
  RoviSimBase -->|publish| VRAW

  ODRAW(["/odom_raw<br/>(Odometry)"])

  subgraph GZ["Gazebo Sim (gz sim)"]
    WORLD["room world"]
    ROBOT["rovi robot model (URDF from rovi_description)"]
    LIDAR["lidar sensor"]
    IMU_GZ["imu sensor"]
    ODOM_GZ(["/model/rovi/odometry<br/>(gz.msgs.Odometry)"])
  end

  BRIDGE["ros_gz_bridge<br/>(parameter_bridge)"]

  CMD_SIM --> BRIDGE
  BRIDGE -->|bridge| ROBOT
  LIDAR --> BRIDGE
  IMU_GZ --> BRIDGE
  ODOM_GZ --> BRIDGE

  SCAN(["/scan<br/>(LaserScan)"])
  CLOCK(["/clock"])
  IMU_RAW(["/imu/data_raw<br/>(Imu)"])
  ODOM_BRIDGED(["/odom_gz<br/>(Odometry)"])
  BRIDGE -->|bridge| SCAN
  BRIDGE -->|bridge| CLOCK
  BRIDGE -->|bridge| IMU_RAW
  BRIDGE -->|bridge| ODOM_BRIDGED

  TF_ODOM_BASE(["/tf<br>odom->base_footprint"])

  RoviGzOdom[rovi_gz_odom]
  ODOM_BRIDGED -->|subscribe| RoviGzOdom
  RoviGzOdom -->|publish| ODRAW
  RoviGzOdom -.->|publish| TF_ODOM_BASE
Loading

Offline model

robot_mode=offline

This launch helps to visualize the robot to inspect its 3D model without other dependencies.

flowchart TD
  RoviDesc["rovi_description package"]
  RSP["robot_state_publisher"]
  JSPG["joint_state_publisher_gui"]
  JSTATE(["/joint_states<br/>(JointState)"])
  TF(["/tf<br/>(TF)"])
  RVIZ["rviz2"]

  RoviDesc -->|provides URDF| RSP
  JSPG -->|publish| JSTATE
  JSTATE -->|subscribe| RSP
  RSP -->|publish| TF
  TF -->|subscribe| RVIZ
Loading

Sim joint states

robot_mode=sim

In simulation we still publish /joint_states so robot_state_publisher (and any consumers like the UI bridge) can operate the same way as on the real robot.

We do not use upstream joint_state_publisher here because on ROS 2 Jazzy it can occasionally throw an RCLError: context is not valid during Ctrl-C shutdown (a shutdown race in rclpy executors). Instead we run a small local publisher.

Robot Control

flowchart TD
  Joystick["joy_node <br> (joystick)"]
  JOY(["/joy<br/>(Joy)"])
  Joystick -->|publish| JOY

  TeleopJoy["teleop_twist_joy"]
  JOY -->|subscribe| TeleopJoy
  CMD_JOY(["/cmd_vel_joy<br/>(Twist)"])
  TeleopJoy -->|publish| CMD_JOY

  Keyboard["rovi_keyboard (tools/rovi_keyboard.py)"]
  CMD_KEY(["/cmd_vel_keyboard<br/>(Twist)"])
  Keyboard -->|publish| CMD_KEY

  Nav2["nav2 controller"]
  CMD_NAV(["/cmd_vel_nav<br/>(Twist)"])
  Nav2 -->|publish| CMD_NAV

  TwistMux["twist_mux"]
  CMD_JOY -->|subscribe| TwistMux
  CMD_KEY -->|subscribe| TwistMux
  CMD_NAV -->|subscribe| TwistMux
  CMD(["/cmd_vel<br/>(Twist)"])
  TwistMux -->|publish| CMD
Loading

Odometry filtering

Odometry filtering is only applicable for the real robot. When odom_mode=fusion_wheels_imu, this produces a single authoritative odom -> base_footprint transform using EKF + IMU. For odom_mode=filtered, omit the IMU branch; magnetometer usage is gated by mag_enabled.

flowchart TD
  Rosmaster[rosmaster_driver] -->|publish| IMU_RAW(["/imu/data_raw<br/>(Imu)"])
  Rosmaster -->|publish| MAG(["/imu/mag<br/>(MagneticField)"])
  RoviOdom[rovi_odom_integrator] -->|publish| ODRAW(["/odom_raw<br/>(Odometry)"])

  ImuFilter["imu_filter_madgwick (odom_mode=fusion_wheels_imu)"]
  IMU_RAW -->|subscribe| ImuFilter
  MAG -.->|"subscribe (mag_enabled)"| ImuFilter
  IMU(["/imu/data<br/>(Imu, orientation)"])
  ImuFilter -->|publish| IMU

  EKF["robot_localization/ekf_node"]
  ODRAW -->|subscribe| EKF
  IMU -.->|"subscribe (odom_mode=fusion_wheels_imu)"| EKF
  ODOMF(["/odometry/filtered<br/>(Odometry)"])
  EKF -->|publish| ODOMF
  EKF -->|publish| TF(["/tf<br/>odom -> base_footprint"])
Loading

SLAM

slam_toolbox produces map -> odom so the robot pose is expressed in a stable map frame. slam_mode selects mapping (build/update the map) or localization (load a saved pose-graph from map_file_name).

flowchart TD
  subgraph TF_GROUP["/tf"]
    TF(["map -> odom"])
    TFCHAIN(["odom -> base_footprint -> laser_link"])
  end
  RPLidar[rplidar_ros] -->|publish| SCAN(["/scan<br/>(LaserScan)"])
  TFCHAIN -->|subscribe| Slam[slam_toolbox]
  SCAN -->|subscribe| Slam
  MAP(["/map<br/>(OccupancyGrid)"])
  Slam -->|publish| MAP
  Slam -->|publish| TF
Loading

Navigation

Nav2 consumes map + TF + sensors to compute /cmd_vel for the base. For navigation, SLAM can run in slam_mode=mapping (default) or slam_mode=localization (requires map_file_name).

Lifecycle-managed nodes (configured/activated by nav2_lifecycle_manager): nav2_bt_navigator/bt_navigator, nav2_planner/planner_server, nav2_controller/controller_server, nav2_behaviors/behavior_server.

flowchart TD
  GoalCLI["ros2cli<br/>(ros2 action send_goal)"]
  GoalRVIZ["nav2_rviz_plugins<br/>(rviz2 'Nav2 Goal' / '2D Goal Pose')"]
  NAV_ACTION(["/navigate_to_pose<br/>(nav2_msgs/action/NavigateToPose)"])
  GoalCLI -->|send goal| NAV_ACTION
  GoalRVIZ -->|send goal| NAV_ACTION

  Btnav["bt_navigator"]
  NAV_ACTION -->|action server| Btnav

  Planner["planner_server"]
  Controller["controller_server"]
  Behaviors["behavior_server"]
  Btnav -.->|"services/actions"| Planner
  Btnav -.->|"services/actions"| Controller
  Btnav -.->|"services/actions"| Behaviors

  MAP(["/map<br/>(OccupancyGrid)"])
  TF(["/tf<br/>(map->odom + odom->base_footprint + links)"])
  SCAN(["/scan<br/>(LaserScan)"])
  ODOMF(["/odometry/filtered<br/>(Odometry)"])

  MAP -->|subscribe| Planner
  TF -->|subscribe| Planner

  MAP -->|subscribe| Controller
  TF -->|subscribe| Controller
  SCAN -->|subscribe| Controller
  ODOMF -->|subscribe| Controller

  CMD_NAV(["/cmd_vel_nav<br/>(Twist)"])
  Controller -->|publish| CMD_NAV

  TwistMux["twist_mux"]
  CMD_NAV -->|subscribe| TwistMux
  CMD_JOY(["/cmd_vel_joy<br/>(Twist)"])
  CMD_JOY -.->|"subscribe (teleop)"| TwistMux
  CMD_KEY(["/cmd_vel_keyboard<br/>(Twist)"])
  CMD_KEY -.->|"subscribe (keyboard)"| TwistMux
  CMD(["/cmd_vel<br/>(Twist)"])
  TwistMux -->|publish| CMD

  Rosmaster["rosmaster_driver"]
  CMD -->|subscribe| Rosmaster
Loading

Visualization

flowchart TD
  TF(["/tf<br/>(TF)"])
  ROBOT_DESC(["/robot_description<br/>(String)"])
  SCAN(["/scan<br/>(LaserScan)"])
  MAP(["/map<br/>(OccupancyGrid)"])

  RVIZ_ODOM["rviz2<br/>(rovi_odom.rviz, Fixed Frame: odom)"]
  RVIZ_MAP["rviz2<br/>(rovi_map.rviz, Fixed Frame: map)"]
  RVIZ_NAV["rviz2<br/>(rovi_nav.rviz, Fixed Frame: map)"]

  TF -->|subscribe| RVIZ_ODOM
  TF -->|subscribe| RVIZ_MAP
  TF -->|subscribe| RVIZ_NAV
  ROBOT_DESC -->|subscribe| RVIZ_ODOM
  ROBOT_DESC -->|subscribe| RVIZ_MAP
  ROBOT_DESC -->|subscribe| RVIZ_NAV
  SCAN -->|subscribe| RVIZ_ODOM
  SCAN -->|subscribe| RVIZ_MAP
  SCAN -->|subscribe| RVIZ_NAV
  MAP -->|subscribe| RVIZ_MAP
  MAP -->|subscribe| RVIZ_NAV
Loading

TF Tree

TF frames are not regular ROS topics; this is the chain RViz and SLAM use at runtime.

flowchart TD
  MAP[map] -->|slam_toolbox| ODOM[odom]
  ODOM -->|"ekf_node OR rovi_odom_integrator (real) OR rovi_gz_odom (sim)"| BASEF[base_footprint]
  BASEF -->|robot_state_publisher| BASEL[base_link]
  BASEL -->|robot_state_publisher| LASER[laser_link]
  BASEL -->|robot_state_publisher| IMU[imu_link]
Loading

Launch wiring

rovi_bringup/robot_bringup.launch.py selects the backend (robot_mode:=real|sim|offline), and rovi_bringup/rovi.launch.py is the single high-level entrypoint that chooses the stack and owns RViz startup policy.

flowchart LR
  Rovi["rovi_bringup/rovi.launch.py"]
  RobotBringup["rovi_bringup/robot_bringup.launch.py"]

  Rovi --> RobotBringup
  Rovi --> Teleop["rovi_bringup/teleop.launch.py"]
  Rovi --> Mapping["rovi_bringup/mapping.launch.py"]
  Rovi --> Localization["rovi_bringup/localization.launch.py"]
  Rovi --> NavLaunch["rovi_bringup/nav.launch.py"]

  EkfLaunch["rovi_localization/launch/ekf.launch.py"]
  SlamLaunch["rovi_slam/launch/slam_toolbox.launch.py"]
  NavStackLaunch["rovi_nav/launch/nav.launch.py"]

  Mapping -->|IncludeLaunchDescription| EkfLaunch
  Mapping -->|IncludeLaunchDescription| SlamLaunch

  Localization -->|IncludeLaunchDescription| EkfLaunch
  Localization -->|IncludeLaunchDescription| SlamLaunch

  NavLaunch -->|IncludeLaunchDescription| NavStackLaunch
  NavLaunch -->|"IncludeLaunchDescription<br/>(slam_mode=mapping)"| Mapping
  NavLaunch -->|"IncludeLaunchDescription<br/>(slam_mode=localization)"| Localization

  RobotBringup -->|"IncludeLaunchDescription<br/>(robot_mode=sim)"| GazeboSim["rovi_sim/launch/gazebo_sim.launch.py"]
Loading

Package dependencies

flowchart LR
    RoviBringup[rovi_bringup]
    RoviDesc[rovi_description]
    Rosmaster[rosmaster_driver]
    RoviOdom[rovi_odom_integrator]
    RoviLoc[rovi_localization]
    RoviSlam[rovi_slam]
    RoviNav[rovi_nav]
    RoviSim[rovi_sim]

  
  Joy[ros-jazzy-joy]
  Teleop[ros-jazzy-teleop-twist-joy]
  TeleopKey[tools/rovi_keyboard.py]
  TwistMux[twist_mux]
  RSP[robot_state_publisher]
  LocalJoints[rovi_local_joint_states]
  JSPG[joint_state_publisher_gui]
  RVIZ[rviz2]
  Diag[diagnostic_updater]
  RPLidar[rplidar_ros]
  RosGzSim[ros_gz_sim]
  RosGzBridge[ros_gz_bridge]
  
  EKF[robot_localization]
  ImuFilter[imu_filter_madgwick]
  SlamToolbox[slam_toolbox]

  Nav2[nav2_bringup]

  RoviBringup --> RoviDesc
  RoviBringup --> Rosmaster
  RoviBringup --> RoviOdom
  RoviBringup -.-> RoviLoc
  RoviBringup -.-> RoviSlam
  RoviBringup --> Joy
  RoviBringup --> Teleop
  RoviBringup -.-> TeleopKey
  RoviBringup --> TwistMux
  RoviBringup --> RSP
  RoviSim -.-> LocalJoints
  RoviBringup --> JSPG
  RoviBringup --> RVIZ
  RoviBringup --> RPLidar
  RoviBringup -.-> RoviSim
  RoviBringup -.-> RoviNav

  RoviSim --> RosGzSim
  RoviSim --> RosGzBridge
  RoviSim --> RoviDesc

  RoviOdom --> Diag

  RoviLoc --> EKF
  RoviLoc -.-> ImuFilter
  RoviSlam --> SlamToolbox
  RoviNav --> Nav2
Loading

About

ROS2 Jazzy workspace for Room View Bot

homesmartmesh.github.io/robotics/room-view-bot/

Topics

robot robotics ros lidar gazebo depth-camera ros2 mecanum-wheels yahboomtechnology raspberry-pi-5

Resources

Readme

License

MIT license
Activity
Custom properties

Stars

2 stars

Watchers

1 watching

Forks

1 fork
Report repository

Languages