linorobot/linorobot2

What it solves

linorobot2 provides a complete foundation for turning bare robot hardware into an autonomous mobile robot. It eliminates the need to manually integrate and configure complex ROS2 navigation stacks, allowing users to move from assembly to fully autonomous navigation (SLAM and Nav2) with minimal setup.

How it works

The project integrates several core ROS2 packages into a pre-configured stack:

• Navigation and Mapping: It pre-wires Nav2, SLAM Toolbox, and robot_localization (EKF) so they work out-of-the-box.
• Hardware Support: It supports 2WD, 4WD, and Mecanum drive configurations and provides micro-ROS firmware for microcontrollers (like Teensy) to handle odometry and IMU data.
• Simulation: It includes a templated URDF for Gazebo simulation. It also features tools like image_to_gazebo and create_worlds_from_maps to convert real-world floor plans or SLAM maps into 3D Gazebo worlds for testing.
• Sensor Integration: It provides automatic driver setup and topic remapping for a wide variety of 2D lidars and RGBD depth cameras.

Who it’s for

• Robot builders who want to build a physical autonomous robot from off-the-shelf parts.
• Developers prototyping new hardware designs using URDFs and Gazebo simulation.
• Students and learners wanting to learn the Nav2 navigation stack through a guided journey.
• ROS2 application developers who need a reproducible simulation environment for testing path planners and perception pipelines.

Highlights

• Unified Config: The same configuration files are used for both physical hardware and Gazebo simulation.
• Real-to-Sim Pipeline: Tools to convert images or SLAM maps directly into Gazebo worlds to match physical environments.
• Broad Sensor Support: Out-of-the-box support for numerous RPLIDAR, LD, YDLIDAR, and Intel RealSense/ZED cameras.
• Micro-ROS Integration: Seamless integration of microcontrollers as ROS2 nodes for odometry and IMU data.