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rovi_ros_ws

ROS2 Jazzy workspace for Room View Bot

Usage

For new environments, see install first

clean build and run, notice venv activation after build and before launch :

source /opt/ros/jazzy/setup.bash
./clean.sh
colcon build
source install/setup.bash
source .venv/bin/activate

config in ~/.bashrc

source /opt/ros/jazzy/setup.bash
export ROS_DOMAIN_ID=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
unset ROS_LOCALHOST_ONLY
unset RMW_IMPLEMENTATION CYCLONEDDS_URI

alias ws='cd $HOME/dev/Roblibs/rovi_ros_ws && source install/setup.bash && source .venv/bin/activate'
alias mapping='ros2 launch rovi_bringup mapping.launch.py'
alias teleop='ros2 launch rovi_bringup teleop.launch.py'
alias talk='ros2 run demo_nodes_cpp talker'
alias listen='ros2 run demo_nodes_py listener'

common launch examples :

command description
ros2 launch rovi_bringup teleop.launch.py joytick teleoperation of the robot
ros2 launch rovi_bringup mapping.launch.py teleop + slam_toolbox mapping
ros2 launch rovi_bringup localization.launch.py map_file_name:=/path/to/map.posegraph teleop + slam_toolbox localization on a saved pose-graph
ros2 launch rovi_bringup nav.launch.py Nav2 navigation with SLAM (slam_mode:=mapping by default)
ros2 launch rovi_bringup nav.launch.py slam_mode:=localization map_file_name:=/path/to/map.posegraph Nav2 navigation with SLAM localization on a saved pose-graph
ros2 launch rovi_bringup offline_view.launch.py offline robot model visualization (URDF + joint_state_publisher_gui + RViz)
rviz2 -d "$(ros2 pkg prefix rovi_description)/share/rovi_description/rviz/rovi.rviz" visualization of the real robot (teleop-friendly; Fixed Frame: odom)
rviz2 -d "$(ros2 pkg prefix rovi_description)/share/rovi_description/rviz/rovi_map.rviz" visualization for SLAM (Fixed Frame: map, subscribes to /map)
rviz2 -d "$(ros2 pkg prefix rovi_nav)/share/rovi_nav/rviz/nav.rviz" visualization for Navigation (Nav2 panel + goal tool)

Note: install/share/... paths only work when building with colcon build --merge-install.

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 joystick and rplidar ros packages

# Teleop + mux
sudo apt install -y ros-jazzy-joy ros-jazzy-teleop-twist-joy ros-jazzy-twist-mux

# Diagnostics (rovi_base depends on it)
sudo apt install -y ros-jazzy-diagnostic-updater

# Viz + state publisher for offline visualization
sudo apt install -y ros-jazzy-robot-state-publisher ros-jazzy-joint-state-publisher-gui ros-jazzy-rviz2

# Lidar
sudo apt install -y ros-jazzy-rplidar-ros

# SLAM + localization
sudo apt install -y ros-jazzy-slam-toolbox ros-jazzy-robot-localization

# Navigation (Nav2)
sudo apt install -y ros-jazzy-nav2-bringup ros-jazzy-nav2-rviz-plugins

# DDS implementation (CycloneDDS) for static peers / unicast discovery
sudo apt install -y ros-jazzy-rmw-cyclonedds-cpp

# IMU orientation filter (used when odom_mode=fusion_wheels_imu)
sudo apt install -y ros-jazzy-imu-filter-madgwick

windwos Network: It is only possible to receive traffic (udp,...) if the network is private, not public. Some rules might be needed in addition

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

pixi on windows

pixi shell
call C:\pixi_ws\ros2-windows\local_setup.bat
colcon build --merge-install --base-paths rovi_ros_ws --packages-select rovi_description
call install\setup.bat
rviz2 -d install/share/rovi_description/rviz/rovi.rviz

Description

Packages

Only packages created in this repo are listed here

Package Role
rovi_bringup Top-level launch entry points (teleop, visualization, mapping/localization stacks)
rovi_description URDF + meshes + RViz configs; provides static TF like base_footprint -> base_link -> laser_link
rosmaster_driver Hardware bridge: /cmd_vel → MCU, publishes /vel_raw, /joint_states, /imu/data_raw, /imu/mag, etc.
rovi_base Odometry integrator: /vel_raw → /odom_raw; can publish TF odom -> base_footprint (raw odom)
rovi_localization Odometry filtering pipeline: IMU orientation filter + EKF; publishes /odometry/filtered and TF odom -> base_footprint
rovi_slam SLAM pipeline (slam_toolbox): publishes /map and TF map -> odom when enabled
rovi_nav Nav2 integration package: configuration + component launch for autonomous navigation

Launches

Launch Package Description
teleop.launch.py rovi_bringup Manual driving: joystick + teleop + base bringup (+ LiDAR if enabled)
mapping.launch.py rovi_bringup Teleoperation with SLAM mapping (slam_toolbox)
offline_view.launch.py rovi_bringup Offline Inspection of the robot model : URDF + joint_state_publisher_gui + RViz
joy.launch.py rovi_bringup Debug joystick → /cmd_vel only (no hardware required)
localization.launch.py rovi_bringup Bringup + SLAM localization on an existing map (slam_toolbox localization mode)
nav.launch.py rovi_bringup Bringup + SLAM (slam_mode mapping/localization) + Nav2 navigation stack
rosmaster_driver.launch.py rosmaster_driver Hardware driver only (serial/IMU/joints sanity checks)
ekf.launch.py rovi_localization Component launch: odometry pipeline (odom_mode selects raw/filtered/fusion_wheels_imu; useful without SLAM)
slam_toolbox.launch.py rovi_slam Component launch: slam_toolbox (mapping/localization selected by params)
nav.launch.py rovi_nav Component launch: Nav2 servers + lifecycle manager

Nodes

ROS nodes started by the launches above (some are conditional based on params).

Node Package Description
joy_node joy Reads a joystick device and publishes /joy (sensor_msgs/msg/Joy).
teleop_twist_joy teleop_twist_joy Converts /joy into velocity commands on /cmd_vel_joy (geometry_msgs/msg/Twist).
twist_mux twist_mux Selects the active velocity command source (e.g., /cmd_vel_nav vs /cmd_vel_joy) and publishes /cmd_vel.
rosmaster_driver rosmaster_driver Hardware bridge for the Rosmaster base board: subscribes to /cmd_vel and publishes feedback like /vel_raw, /joint_states, /imu/data_raw, /imu/mag, and /voltage.
rovi_base rovi_base Integrates /vel_raw into /odom_raw and can broadcast TF odom -> base_footprint when enabled.
robot_state_publisher robot_state_publisher Publishes the robot TF tree from the URDF (robot_description) and /joint_states.
rplidar_composition rplidar_ros Publishes /scan (sensor_msgs/msg/LaserScan) from an RPLIDAR (only when lidar_enabled:=true).
imu_filter imu_filter_madgwick Filters /imu/data_raw (and optionally /imu/mag) into /imu/data (only when odom_mode:=fusion_wheels_imu).
ekf_filter_node robot_localization EKF that produces /odometry/filtered and TF odom -> base_footprint from /odom_raw (and /imu/data in fusion_wheels_imu).
slam_toolbox slam_toolbox Lifecycle SLAM node that publishes TF map -> odom and (in mapping mode) /map (only when slam_enabled:=true).
odom_to_basefootprint tf2_ros Static TF publisher used by offline_view.launch.py to provide odom -> base_footprint without hardware.
joint_state_publisher_gui joint_state_publisher_gui GUI for publishing /joint_states for offline URDF inspection.
rviz2 rviz2 Visualization client (used by offline_view.launch.py and standalone rviz2 -d ...).
bt_navigator nav2_bt_navigator Nav2 behavior tree navigator; provides the /navigate_to_pose action server.
planner_server nav2_planner Nav2 global planner that produces paths in the map frame.
controller_server nav2_controller Nav2 local controller that publishes velocity commands on /cmd_vel_nav.
behavior_server nav2_behaviors Nav2 recovery/behavior actions (spin, backup, wait) used by the BT.
lifecycle_manager_navigation nav2_lifecycle_manager Configures and activates the Nav2 lifecycle nodes (autostart).

Params

Only the parameters toggeling nodes activation are listed here

Param Package Launch Default Explanation
lidar_enabled rovi_bringup teleop.launch.py true Starts LiDAR driver (rplidar_ros); without it there is no /scan
slam_enabled rovi_bringup mapping.launch.py, localization.launch.py true Starts slam_toolbox; publishes TF map -> odom (and /map in mapping mode)
slam_enabled rovi_slam slam_toolbox.launch.py true Starts slam_toolbox; publishes TF map -> odom (and /map in mapping mode)
slam_mode rovi_slam slam_toolbox.launch.py mapping Selects SLAM mode: mapping or localization.
slam_mode rovi_bringup nav.launch.py mapping Selects SLAM mode when running Nav2.
odom_mode rovi_bringup mapping.launch.py, localization.launch.py fusion_wheels_imu Selects who publishes TF odom -> base_footprint (and whether IMU is used in that odom estimate)
odom_mode rovi_localization ekf.launch.py fusion_wheels_imu Same as above, but for running the odometry pipeline without SLAM
mag_enabled rovi_bringup mapping.launch.py, localization.launch.py false Enables magnetometer input for the IMU filter (used in odom_mode=fusion_wheels_imu; disabled by default due to interference risk)
mag_enabled rovi_localization ekf.launch.py false Enables magnetometer input for the IMU filter (used in odom_mode=fusion_wheels_imu; disabled by default due to interference risk)
map_file_name rovi_bringup localization.launch.py, nav.launch.py ~/.ros/rovi/maps/latest.posegraph Pose-graph file to load when slam_mode=localization.

Odometry Modes (odom_mode)

Used by: rovi_bringup/mapping.launch.py, rovi_bringup/localization.launch.py, and rovi_localization/ekf.launch.py.

odom_mode rovi_base_publish_tf (bringup) TF odom -> base_footprint Nodes started Notes
raw true rovi_base (none) Fastest/simplest; wheel odom only (/odom_raw), no /odometry/filtered
filtered false robot_localization/ekf_node robot_localization/ekf_node Filters wheel odom (/odom_raw → /odometry/filtered)
fusion_wheels_imu false robot_localization/ekf_node imu_filter_madgwick + robot_localization/ekf_node Adds IMU yaw + yaw rate (/imu/data_raw → /imu/data); set mag_enabled:=true to use /imu/mag

Diagrams

Conventions:

  • Square nodes are ROS nodes/packages.
  • Rounded nodes are ROS topics (/name<br/>(MsgType)).
  • In connection to topics, arrows only represent publish/subscribe via a topic.

Basic Flow

flowchart TD
  Rosmaster[rosmaster_driver node]

  Joystick["ros-jazzy-joy node"]
  JOY(["/joy<br/>(Joy)"])
  Joystick -->|publish| JOY

  RoviJoy["ros-jazzy-teleop-twist-joy node"]
  JOY -->|subscribe| RoviJoy
  CMD_JOY(["/cmd_vel_joy<br/>(Twist)"])
  RoviJoy -->|publish| CMD_JOY

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

  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

  RoviBase["rovi_base node"]
  VRAW -->|subscribe| RoviBase
  ODRAW(["/odom_raw<br/>(Odometry)"])

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

  RoviBase -->|publish| ODRAW
  RoviBase -->|publish| TF_ODOM_BASE

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

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

Odometry filtering

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)"])
  RoviBase[rovi_base] -->|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(["/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.rviz, Fixed Frame: odom)"]
  RVIZ_MAP["rviz2<br/>(rovi_map.rviz, Fixed Frame: map)"]
  RVIZ_NAV["rviz2<br/>(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

Offline model

This launch from rovi_bringup helps to visualize the robot model without needing the actual robot hardware

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

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_base| 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 launches are composition layers: they include smaller "component" launches (teleop, odometry, SLAM). This keeps packages reusable (e.g., you can run SLAM against bag playback as long as /scan + TF exist).

flowchart LR
  Mapping["rovi_bringup/mapping.launch.py"]
  Localization["rovi_bringup/localization.launch.py"]
  NavLaunch["rovi_bringup/nav.launch.py"]

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

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

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

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

  subgraph TeleopStack[Teleop stack]
    Joy["joy_node"]
    TeleopTwist["teleop_twist_joy"]
    TwistMux["twist_mux"]
    Rosmaster["rosmaster_driver_node"]
    RoviBase["rovi_base_node"]
    RSP["robot_state_publisher"]
    Rplidar["rplidar_ros (lidar_enabled)"]
  end
  TeleopLaunch --> Joy
  TeleopLaunch --> TeleopTwist
  TeleopLaunch --> TwistMux
  TeleopLaunch --> Rosmaster
  TeleopLaunch --> RoviBase
  TeleopLaunch --> RSP
  TeleopLaunch -.-> Rplidar

  subgraph OdomStack[Odometry pipeline]
    ImuFilter["imu_filter_madgwick (odom_mode=fusion_wheels_imu)"]
    EkfNode["robot_localization/ekf_node"]
  end
  EkfLaunch --> ImuFilter
  EkfLaunch --> EkfNode

  subgraph SlamStack[SLAM]
    SlamTB["slam_toolbox (lifecycle node)"]
  end
  SlamLaunch --> SlamTB

  subgraph NavStack["Navigation (Nav2)"]
    NavLife["lifecycle_manager_navigation"]
    NavBT["bt_navigator"]
    NavPlanner["planner_server"]
    NavController["controller_server"]
    NavBehaviors["behavior_server"]
  end
  NavStackLaunch --> NavLife
  NavStackLaunch --> NavBT
  NavStackLaunch --> NavPlanner
  NavStackLaunch --> NavController
  NavStackLaunch --> NavBehaviors
Loading

Package dependencies

flowchart LR
  subgraph Internal
    RoviBringup[rovi_bringup]
    RoviDesc[rovi_description]
    Rosmaster[rosmaster_driver]
    RoviBase[rovi_base]
    RoviLoc[rovi_localization]
    RoviSlam[rovi_slam]
    RoviNav[rovi_nav]
  end

  subgraph External
    Joy[ros-jazzy-joy]
    Teleop[ros-jazzy-teleop-twist-joy]
    TwistMux[twist_mux]
    RSP[robot_state_publisher]
    JSPG[joint_state_publisher_gui]
    RVIZ[rviz2]
    Diag[diagnostic_updater]
    RPLidar[rplidar_ros]
    EKF[robot_localization]
    ImuFilter[imu_filter_madgwick]
    SlamToolbox[slam_toolbox]
    Nav2[nav2_bringup]
  end

  RoviBringup --> RoviDesc
  RoviBringup --> Rosmaster
  RoviBringup --> RoviBase
  RoviBringup -.-> RoviLoc
  RoviBringup -.-> RoviSlam
  RoviBringup -.-> RoviNav
  RoviBringup --> Joy
  RoviBringup --> Teleop
  RoviBringup --> TwistMux
  RoviBringup --> RSP
  RoviBringup --> JSPG
  RoviBringup --> RVIZ
  RoviBringup --> RPLidar

  RoviBase --> Diag

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

Nodes details

rosmaster driver

packafe_flow

Movement ros axis rosmaster Axis
forward/backwards X -Y
left/right Y -X
Rotation Z Z

MPU Axis

axis

  • chip orientation : pin1 pointing to buzzer edge of rosmaster control board
  • buzzer edge of rosmaster control board : is pointing to Robot Front Left corner

From raw board measurement, the sensor reveals a 180° flip on its X axis

Robot IMU ros axis
Right X -Y
Front -Y X
Up -Z Z

This rotation will be compensated in the driver so that output of /imu/data_raw imu.linear_acceleration should be as follows

Position axis value
back with the front facing up x 9.8
on right side left facing up : y 9.8
up facing up : z 9.8

wheels

  • ROS-Driver-Board\1.Code\Factory STM32 firmware\Rosmaster_V3.5.1\ControlBoard_Rosmaster\Source\APP\app_mecanum.h
  • ROS-Driver-Board\1.Code\Factory STM32 firmware\Rosmaster_V3.5.1\V3.5.1\Source\APP\app_motion.h
#define MECANUM_MAX_CIRCLE_MM        (251.327f)

#define ENCODER_CIRCLE_205           (2464.0f)

typedef enum _car_type
{
    CAR_MECANUM_MAX = 0x02,//X3 PLUS
} car_type_t;
Motor wheel direction
m1 Front Left flip
m2 Front Right
m3 Back Left
m4 Back Right flip
Robot Model Wheel Diameter (mm) Wheel circumference (mm) Wheel encoder steps
X3 80 251.327 2464

Joystick

Control Axis Axis sign Robot action Robot command command scale sign
Left stick right axis 0 + turn clockwise axis_angular.yaw +
Left stick left axis 0 - turn anti-clockwise axis_angular.yaw +
Right stick right axis 3 + move right axis_linear.y -
Right stick left axis 3 - move left axis_linear.y -
Right stick down axis 4 + move rear axis_linear.x -
Right stick up axis 4 - move front axis_linear.x -

Joystick Control

Check your joystick before starting:

jstest /dev/input/js0

Check joystick → twist without touching the robot hardware:

ros2 launch rovi_bringup joy.launch.py \
  joy_dev:=0 \
  cmd_vel_topic:=/cmd_vel_joy

ros2 topic echo /cmd_vel_joy
  • joy_dev is the SDL device index (0 ≈ /dev/input/js0).
  • Override joy_params_file or teleop_params_file if you keep custom YAMLs elsewhere.

ELP Stereo camera

v4l2-ctl --list-devices
v4l2-ctl -d /dev/video0 --list-formats-ext

see more details in stereo camera

rplidar

where testing the rpilidar alone, it is necessary to add a transform for vosulazation

Steps :

  • run the simple rplidar launch with
ros2 launch rplidar_ros rplidar.launch.py
  • add a transform for visualization
ros2 run tf2_ros static_transform_publisher \
  0 0 0 0 0 0 \
  map laser
  • then on windows open rviz
>ros2 run rviz2 rviz2
  • select default map on Global Options/Fixed Frame add a LaserScan and configure its topic to /scan

wifi adapter

About

ROS2 Jazzy workspace for Room View Bot

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

Topics

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

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Readme

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MIT license
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Custom properties

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