This is an educational differential drive mobile robot created by Samuel Obiagba (samuko-things) for learning mobile robotics in ROS2 and micro-ros. It uses the SMC l298N pid motor driver and the SIC MPU9250 IMU for its base control. It also has a simulation in Gazebo Classic.
This is the ros2 base control package for the actual physical mobo_bot robot which uses the SMC l298N pid motor driver and the SIC MPU9250 IMU for its base control. the mobo_bot_base is meant to run on the Raspberry Pi 4 on the robot.
Important
The base repo has not been added yet but below are examples of actual robots' mobile bases I built and tested in ROS2 using the SMC L298N pid motor driver and SIC MPU9250 IMU
robot_test4.mp4
robot_test5.mp4
robot_test2.mp4
Another Visualization repo - mobo_bot_rviz - will be run on the Dev PC, that is wirelessly connected to the Pi, for visualizing the robot in RVIZ. this package can also be used to visualize the mobo_bot simulation.
This is the mobo_bot ROS2 simulation with Gazebo Classic 11. here's a link to the repo: mobo_bot_sim. Simulate on your PC and view to robot data in RVIZ with the mobo_bot_rviz package.
mobo_bot_sim_vid.mp4
This package contains 2D navigation code implementation (based on the Nav2 ros package) for the mobo_bot. Learn concepts like SLAM mapping, Localization with AMCL, 2D Navigation, etc. link to the repo: mobo_bot_nav2d
Important
The mobo_bot_nav2d can be used on both the simulation - mobo_bot_sim - and the actual robot mobo_bot_base