ROS2 Jazzy + Ubuntu 24.04 + new robot Seggy

Sergei Grichine

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Oct 30, 2025, 9:25:35 PMOct 30

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Le Roi est mort, vive le Roi!

There's a new King in (my) town - Seggy:

https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Seggy

It features BLDC motor wheels, streamlined body, and it will serve as my test platform for upcoming indoor ROS2 experiments.

The goal is to validate the use of BLDC (hoverboard) wheel motors in ROS2, fine-tune indoor navigation, and explore behavior trees. So far, progress has been good.

The venerable Plucky has retired, having donated his vital organs to the new King — as happens in all kingdoms.

For previous postings on the subject refer to the "ROS Jazzy + Ubuntu 24.04 + GPS for outdoors" thread: https://groups.google.com/g/hbrobotics/c/e5q9GjFtJc4/m/nNNI5KXaCwAJ

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Best Regards,

-- Sergei

Karim Virani

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Oct 30, 2025, 9:50:00 PMOct 30

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Long Live the King!

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Sergei Grichine

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Nov 4, 2025, 10:01:12 PMNov 4

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I made some progress with Seggy and Turtle, here is status:

https://github.com/slgrobotics/robots_bringup/blob/main/NotesAndStatus.md

On Thu, Oct 30, 2025 at 8:25 PM Sergei Grichine <vital...@gmail.com> wrote:

Sergei Grichine

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Nov 20, 2025, 10:06:29 PMNov 20

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I refactored launch files - it was a painful but much needed exercise. AI (ChatGPT.com and Copilot) were of great (free) help.

Everything works under Jazzy or Kilted.

Project status here: https://github.com/slgrobotics/articubot_one/wiki/Notes-and-Status

Best Regards,

-- Sergei

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Sergei Grichine

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Nov 24, 2025, 9:59:36 PMNov 24

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Hi All,

For those interested in GPS navigation outdoors, I added a "slap-on" Outdoors Localization package.

It simplifies adding GNSS/Navsat localization to any robot, by launching pre-configured and tuned Navsat Transform and EKF (IMU + Odom + GPS) nodes, plus one of the standard localizers (Map Server, SLAM Toolbox or AMCL).

Its topics definitions are matching my robots, but it can be forked and adapted to any architecture.

Let me know if you find it useful.

Best Regards,

-- Sergei

Sergei Grichine

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Dec 5, 2025, 1:55:19 PMDec 5

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Hi All,

While using ROS2 + GPS outside, I am mostly using the map server: https://github.com/slgrobotics/outdoors_loc_nav/blob/main/README.md#why-use-the-map-server

Have anybody successfully done SLAM or AMCL outdoors? How do you create maps for that? Any ideas?

Best Regards,

-- Sergei

camp .

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Dec 5, 2025, 4:51:04 PMDec 5

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> Have anybody successfully done SLAM or AMCL outdoors? How do you create maps for that? Any ideas?

Not SLAM or AMCL, but in 2012, Blue Dog successfully reached the Goal Cone at RoboGames (Bronze Medal) by comparing the Target GPS Destination to the Robot's GPS and traveling north when the target latitude was higher and south when it was lower; east when the target latitude was higher and west when it was lower. I had ultrasonics to avoid obstacles. With standard GPS, this will get you within 10' or 12' of your goal. Generally, one would hand it over to the camera to drive into the Goal, but on this day, it nailed the mark without one.

Stating the obvious: the problem with slam_toolbox on a RoboMagellan course (or outdoors in general) is that there are usually not enough obstacles to localize on.

Bluedog RoboGames RoboMagellan 2012

https://photos.app.goo.gl/qwroANjSCsxwLwqj7

Thanks,

Camp

On Friday, December 5, 2025 at 01:55:18 PM EST, Sergei Grichine <vital...@gmail.com> wrote:

Hi All,

While using ROS2 + GPS outside, I am mostly using the map server: https://github.com/slgrobotics/outdoors_loc_nav/blob/main/README.md#why-use-the-map-server

Have anybody successfully done SLAM or AMCL outdoors? How do you create maps for that? Any ideas?

Best Regards,

-- Sergei

On Mon, Nov 24, 2025 at 8:59 PM Sergei Grichine <vital...@gmail.com> wrote:

Hi All,
For those interested in GPS navigation outdoors, I added a "slap-on" Outdoors Localization package.

It simplifies adding GNSS/Navsat localization to any robot, by launching pre-configured and tuned Navsat Transform and EKF (IMU + Odom + GPS) nodes, plus one of the standard localizers (Map Server, SLAM Toolbox or AMCL).
Its topics definitions are matching my robots, but it can be forked and adapted to any architecture.
Let me know if you find it useful.
Best Regards,
-- Sergei

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