My ROS2 Jazzy-based autonomous robot built on the Waveshare UGV Rover platform with custom modular packages.
- Platform: Waveshare UGV Rover
- Computer: Raspberry Pi 5 (Ubuntu 24.04)
- Microcontroller: ESP32 (motor control bridge)
- LIDAR: LD19 360° Laser Scanner
- Sensors:
- INA219 Battery Monitor
- 128x64 OLED Display
- Control: Logitech F710 Wireless Gamepad
- OS: Ubuntu 24.04
- Framework: ROS2 Jazzy
- Navigation: SLAM Toolbox
- rover_bringup - Launch files, ESP32 bridge, joystick teleoperation
- rover_description - URDF model and robot visualization
- rover_motion - Odometry publishing
- rover_msgs - Custom messages and services (Patrol action, LED control)
- rover_navigation - SLAM configuration and mapping
- rover_utils - Battery monitoring, OLED display, safety stop
- rover_example - Example patrol behavior client/server