Robots Bringup (Documentation)

• for better viewing experience visit Project Wiki
• please take a moment to review Current Notes and Project Status page

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This repository contains instructions and other documents related to my "articubot_one" project.

It is intended to run navigation on my Turtlebot-like robots - in Gazebo simulation or with physical robots, indoors or outdoors.

Some of the docs here deal with Desktop ("Ground Station") setup and operation, while others describe setup of on-board Raspberry Pi computers.

The Sensors section describes setup of GPS, Cameras, IMU and other devices.

Don't forget to properly setup your WiFi or Global VPN and feed your RPi5 properly.

We assume:

• On the Desktop machine (Intel, AMD) - Ubuntu 24.04 64-bit desktop, ROS Jazzy desktop

• On-board single board computer (SBC) - Raspberry Pi 5 8GB or similar, Ubuntu server 24.04 64-bit, ROS Jazzy base (access via ssh)

If you just want to run a simulation in Gazebo, or need to set up your Desktop with ROS Jazzy - see ROS2 Jazzy Setup (no robot hardware required).

Hint: here is a searchable ToC, generated by ChatGPT5 from readable files in this repository.

Here are the robots:

Seggy

An indoors "tablebot" Seggy is described here: Docs/Seggy

Dragger

The outdoorsy robot Dragger (Raspberry 5, GPS) is described here: Docs/Dragger

Plucky (retired)

An indoors mapper robot Plucky is described here: Docs/Plucky

The Venerable Create 1 Turtlebot, now Jazzified

Classic Turtlebot, a visitor from the ancient times, running on Raspberry 3B under ROS2 Jazzy: Docs/Create1

"Make Your Own" robot

This section describes how to make a differential drive robot "from scratch" - out of widely available parts.

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Note: Purpose and Limitations of this Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

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How to use this repository

Note: you don't need to download or build anything from this repository, just browse the Docs folder. Actual robots' code is here.

Here are the likely scenarios for your work.

1. Just set up a "Clean Machine" to work with ROS2 Jazzy

• Desktop workstation: see Docs/ROS-Jazzy (no robot hardware required).

• Optional: Set up Raspberry on-board Raspberry Pi: see Docs/Ubuntu-RPi

2. Try my robots in Gazebo simulation, browse the code (no robot hardware needed)

• See the #1 above, then follow the build and run instructions there for simulated Seggy, Dragger, Plucky or Turtle.

• Bonus: ROS2 Jazzy comes with Turtlebot3 simulation, try that to see Nav2 working.

• To browse robot's code look under ~/robot_ws/src/articubot_one - use VS Code or your favorite IDE.

3. Work on your own codebase

• articubot_one codebase offers a working example of indoors and outdoors (GPS) operation, use Copy/Paste

• Fork my articubot_one repository and make your own robot in ~/robot_ws/src/articubot_one/robots folder

Found a bug? Want to contribute a fix? Have a question?

• Report here: https://github.com/slgrobotics/articubot_one/issues

• Create a Pull Request: https://github.com/slgrobotics/articubot_one/pulls

• Join the Mailing list at https://www.hbrobotics.org/ - participate in club technical discussions

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Useful links

• Project Wiki or Docs Folder

Articulated Robotics (Josh Newans):

https://articulatedrobotics.xyz/category/build-a-mobile-robot-with-ros

https://www.facebook.com/ArticulatedRobotics/

https://articulatedrobotics.xyz/mobile-robot-1-project-overview/

https://articulatedrobotics.xyz/mobile-robot-13-ros2-control-real/

https://control.ros.org/jazzy/index.html

https://www.youtube.com/@ArticulatedRobotics/videos

GPS - localization and navigation:

https://automaticaddison.com/sensor-fusion-using-the-robot-localization-package-ros-2/

https://docs.ros.org/en/melodic/api/robot_localization/html/integrating_gps.html

https://docs.nav2.org/tutorials/docs/navigation2_with_gps.html

https://index.ros.org/p/robot_localization/#jazzy

https://roboticsbackend.com/ros2-nav2-tutorial/