Ekumen-OS/andino

Open-source diff drive robot ROS 2 compatible

What it solves

Andino is an open-source, low-cost differential drive robot designed for education and general experimentation. It provides a complete hardware and software stack to help users learn robotics, SLAM, and navigation without needing to build a complex system from scratch.

How it works

The project is built on ROS 2 (Humble and Jazzy) and consists of several integrated packages:

  • Hardware & Firmware: Includes assembly instructions, URDF descriptions, and microcontroller code to interface low-level hardware with a Single Board Computer (SBC).
  • Control: Implements a ROS Control hardware interface and uses diff_drive_controller and joint_state_broadcaster for movement.
  • Perception & Navigation: Integrates SLAM for mapping and a navigation stack based on nav2 for autonomous movement.
  • Bringup: Provides launch files to initialize the robot, including sensors like LiDAR and cameras.

Who it’s for

  • Students and educators in the robotics field.
  • Hobbyists looking for a low-cost, customizable base platform for robotics projects.
  • Developers wanting to test ROS 2 applications on physical hardware or in simulation.

Highlights

  • Fully Open Source: Hardware designs and software are open for modification.
  • ROS 2 Integration: Native support for Humble and Jazzy distributions.
  • Extensive Simulation Support: Compatible with Gazebo, Webots, O3DE, Isaac Sim, and MuJoCo.
  • Comprehensive Tooling: Includes teleoperation (keyboard/joystick), RViz visualization, and Ansible configurations for automated setup.

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