Rover0

A ROS2-based autonomous rover platform with navigation capabilities.

Overview

Rover0 is a DIY rover platform built with ROS2 (Robot Operating System 2) that integrates:

• Mecanum wheel control
• LiDAR-based mapping and navigation
• IMU-based localization
• Teleoperation capabilities
• Autonomous navigation using Nav2

The system is designed to run on a Raspberry Pi with hardware interfaces for motor control and sensor integration.

Hardware Components

• Raspberry Pi (main controller)
• Raspberry Pi Pico (motor controller)
• XV11 LiDAR sensor
• IMU sensor
• Mecanum wheels with encoders
• Custom motor driver board

Software Architecture

The project is organized into several modules:

• rover0: Main rover control and ROS2 integration
• motor: Motor control firmware for Raspberry Pi Pico
• lidar: LiDAR sensor control firmware for Raspberry Pi Pico with micro-ROS
• teleop: Teleoperation interface
• uros-agent-lidar: Micro-ROS agent for LiDAR communication

Getting Started

Prerequisites

• ROS2 (Humble or later)
• Docker and Docker Compose
• Raspberry Pi with Ubuntu 22.04 or later
• Raspberry Pi Pico with Micro-ROS firmware

Environment Setup

1. Clone this repository:

   git clone https://github.com/ar90n/rover0.git
   cd rover0

2. Set up environment variables:

   export MOTOR_SERIAL_PORT=/dev/ttyACM0  # Adjust as needed
   export LIDAR_SERIAL_PORT=/dev/ttyUSB0  # Adjust as needed
   export FOXGLOVE_WS_PORT=8765           # Optional

Running the Rover

Basic Operation

docker-compose up

Mapping Mode

docker-compose -f docker-compose.yml -f overrides/docker-compose.override.rover0.mappning.yml up

Development Mode

rover0 module

docker-compose -f docker-compose.yml -f overrides/docker-compose.override.rover0.dev.yml up

teleop module

docker-compose -f docker-compose.yml -f overrides/docker-compose.override.teleop.dev.yml up

uros-agent-lidar module

docker-compose -f docker-compose.yml -f overrides/docker-compose.override.uros-agent-lidarp.dev.yml up

Features

• Autonomous Navigation: Using ROS2 Nav2 stack
• Mapping: SLAM-based mapping capabilities
• Teleoperation: Remote control via web interface
• Sensor Integration: LiDAR and IMU data fusion
• Simulation Support: Gazebo simulation environment

Development

Project Structure

• /modules: Contains all ROS2 packages and modules
• /libs: External libraries and dependencies
• /overrides: Docker Compose override files for different configurations
• /root: System configuration files

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• ROS2 community
• Nav2 project
• Micro-ROS project