mobile-robot

OpenAMRobot mobile-base hardware: mechanical and electrical designs, CAD, BOMs, wiring, manufacturing, and assembly assets.

Robot-agnostic ROS 2 autonomy stack for legged and wheeled service robots: workspace template, bringup, docs and paper (Humble | Jazzy)

ROS 2 mobile robot workspace — Raspberry Pi + Pico, Qt 6 Quick 3D dashboard, SLAM/Nav2, mock robot for hardware-free testing

Official reproducible OpenAMRobot releases combining pinned hardware, software, firmware, UI, interfaces, and documentation versions.

Kotlin Android controller for ROS 2 robots via ROSBridge: joystick + arm teleop, MJPEG camera, odom, map, OTA

1-Click mobile robot autonomy from browser to bare microcontroller: unified micro-ROS firmware, realistic physics simulation, SLAM & Nav2 supervisor.

Nav2-native MPPI local controller for ROS 2 Jazzy: online local-minima detection-and-escape + a dynamic-obstacle CBF safety filter, coordinated so escape maneuvers stay certified-safe. Ships the preprint, a 1,200-trial randomized 2D benchmark with raw artifacts, and a Gazebo U-trap testbed.

Mobi: indoor service robot on ROS 2. Teensy 4.1 PID firmware, C++ ros2_control interface, SLAM, AMCL, Nav2 with own planner plugins, undocking action, voice-to-intent agent, PyQt5 launcher.

Mobile robot navigation with a 2D lidar: PPO implemented from scratch (PyTorch) vs CMA-ES neuroevolution vs potential fields, custom Gymnasium env, tested on unseen, dense and noisy maps

Open-source C++17 client library for Festo Robotino 1/2 (OpenRobotinoAPI 1 protocol). Replacement for the outdated OpenRobotinoAPI: Linux and Windows, C API, Python bindings, robot emulator.

Browser-based OpenAMRobot control and monitoring UI for ROS 2: mapping, navigation, cameras, missions, Blockly programming, and diagnostics.

Isaac Sim 6.2 warehouse scene for benchmarking fiducial marker detectors in ROS 2 Jazzy: a Nova Carter drives past WhyCode, WhyCon or AprilTag markers and records the camera with exact per-frame ground truth to a bag, with replay and scoring tools. The Gazebo Harmonic version is on the jazzy-harmonic branch.

Human-aware social navigation with CoHAN on a PAL Tiago

ROS 2 differential-drive robot built from scratch in a workshop: URDF, Gazebo, ros2_control and LiDAR edge avoidance. Docker included.

Differential-drive AGV in ROS 2 Jazzy and Gazebo Harmonic: URDF, 2D lidar, diff-drive plugin, ros_gz_bridge, with a recorded demo run

Embedded firmware for the OpenAMRobot mobile base: micro-ROS, motor control, odometry, sensor drivers, and low-level interfaces.

ROS 2 Jazzy software for the OpenAMRobot mobile base: simulation, Nav2, SLAM, docking, control, drivers, and bringup.

ROS 2 pipeline that navigates a mobile robot to the midpoint of two AprilTags with Nav2, then detects cylindrical tables with lidar

ROS 2 software stack for the LeKiwi 3-wheel omnidirectional mobile robot and its payloads

Orange Pi ROS 2 workspace for an agricultural inspection robot with dual Orange Pi / Jetson Nano controllers. Mid-development source snapshot; final version not public.