ROS Jazzy + Ubuntu 24.04 + GPS for outdoors

[Sergei Grichine]

Hi All,

I am starting this thread for those who followed my previous emails on RSSC.org and here.

This is the previous thread:

https://groups.google.com/g/rssc-list/c/CW4pFGAY97o/m/9Z2Prf1RAgAJ

At the moment my Dragger robot is fully functional when it comes to localization/orientation - both in Gazebo sim and in flesh. It knows where it is on the planet and how it is oriented. RViz reflects its movements on the aerial map.

I will explore SLAM Toolkit next - my goal is to have waypoints and click-on-the-map navigation working.

If you are interested in ROS Jazzy and want to have a working SIM (and maybe a real robot) fast and easy - take a look at these recipes:

https://github.com/slgrobotics/robots_bringup/tree/main/Docs/ROS-Jazzy

https://github.com/slgrobotics/articubot_one

Thanks to everybody who helped me here, chime in with feedback and suggestions.

Let's make more robots! ;-)

--

Best Regards,

-- Sergei

[Sergei Grichine]

Hi All,

A lot has changed in my code since late September, for those who cloned my repos - I suggest doing a "git pull".

- there is no need for twist_stamper node anymore, as the October Jazzy update allows using stamped twist messages (cmd_vel) directly.

- some renaming allowed me to eliminate relay node for publishing diff_cont odometry in Gazebo.

- wheels are now using mesh in Gazebo and RViz2, thanks to James Plehan research and discussions on Tuesdays ROS SIG

- Gazebo SLAM Toolbox works very well in Gazebo, but Nav2 still crashes (Intel I7).

- My "live" Dragger robot maps the backyard and is localized well by GPS, but needs a lot of tuning for turns.

- Nav2 does not crash on Dragger (RPi 5 8GB).

I'll be fine-tuning localization and making Nav2 work on waypoints in the near future.

Instructions are kept current here: https://github.com/slgrobotics/robots_bringup/tree/main/Docs/ROS-Jazzy

Let me know if you have any questions.

[Sergei Grichine]

Hi All,

I added a couple of photos and a screen capture video of Dragger (not sim) navigating to a "Nav2 Goal" in my backyard.

https://photos.app.goo.gl/eAdKiD7YYnL9Vou6A

It looks much better in Gazebo sim, but that's not the final goal here, just a debugging tool.

The mapping capability is still sketchy - I need to work more on SLAM Toolbox tuning.

Sensors:

- LD14 LIDAR works in the daylight (cloudy sky) very well, and reasonably well in sunshine. 

- U-Blox M10 non-RTK GPS provides good positioning info for the dual-EKF localizer.

- MPU9250 is calibrated to about 10 degrees max error and is used for EKF yaw.

All my code is checked in and current, as usual: https://github.com/slgrobotics/robots_bringup/tree/main/Docs/ROS-Jazzy

[Chris Albertson]

>
> The mapping capability is still sketchy - I need to work more on SLAM Toolbox tuning.

Does SLAM work in an open environment like this? It would seem that there is nothing for it to see. I can understand the LIDAR's benefit for obstacle detection, but I’m surprised it could also be used for navigation in a wide open space.

What we need is another breakthrough in AI where we can do single-shot object recognition. This means the camera sees (say) a tree just once and then can recognize the tree again later, even from a different angle. People and animals can do this. Then, we can localize ourselves by just looking around.

[Sergei Grichine]

RE: Does SLAM work in an open environment like this?

This is a good question, Chris, and I am hoping to explore it soon.

I was hoping to find a way of doing three things, in a space with GPS assistance:

• wander around within a boundary, follow waypoints and people in that space (kind of robot-inspector, security bot as a use case)
• avoid obstacles (at least those which LIDAR and SONAR can see) - mapped or not
  
• map the area, treating moving objects (people) appropriately and marking obstacles on the map
  

In theory I don't see a problem for the Nav component to plan a straight line into the space where occupancy cells are still blank - no matter how far away. Nav2 does it, but only within a ~10 meters local area rectangle created by SLAM Toolbox. It doesn't allow me to put Nav Goal far away (i.e. send the robot across the field 100 meters away).

Availability of GPS reference ("global map & odometry" and transforms to "local map & odometry") means that the robot knows where it is (X and Y locally) - whether it sees anything or not. So, it can plan at least the beeline to the next destination. Maybe there is a parameter which enables such planning.

I just started to explore Nav2 in the open space, any ideas/questions/hints are greatly appreciated.

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[Sergei Grichine]

I checked in "waypoint follower" scripts, they work in sim. Some cleanup and refining is due, but basic functionality is in.

[Sergei Grichine]

Hi All,

Please note that I checked in a massive change to GitHub today, moving around robot-specific files and assets.

The idea is to be able to support multiple robot_model's with different bodies and sensors, but still sharing common architecture.

The "assets" directory now contains maps, meshes, waypoints and worlds subdirectories.

The "robots" directory has sim, dragger and plucky (launching sim works, others TBD)

Launch files have been changed slightly, but they have to stay in place - in the common "launch" folder due to specifics of the colcon build process.

Code is, as always, here: https://github.com/slgrobotics/articubot_one

[Sergei Grichine]

Hi All,

a lot has happened in the https://github.com/slgrobotics/articubot_one lately:

1. All three robots work in Gazebo Sim, and they mostly work in reality.

2. Documentation has been updated (robots_bringup repository).

3. The repository has been "unforked" from the original template - if you've cloned it before, please remove and do it again.

4. It is easy to add your own robot to the robots folder. If you want to contribute, create a pull request.

The code is in a "sweet spot" where everything works as intended. I'll be moving my development to branches, leaving the "main" branch as stable as I can make it.

Let me know if you have any questions.

[Pito Salas]

Question: is the micro ros firmware in there somewhere too? Or do you) assume it?

Pito Salas 

Computer Science

Brandeis Univeristy 

On Jan 8, 2025, at 12:11 AM, Sergei Grichine <vital...@gmail.com> wrote:



Hi All,

a lot has happened in the https://github.com/slgrobotics/articubot_one lately:

1. All three robots work in Gazebo Sim, and they mostly work in reality.

2. Documentation has been updated (robots_bringup repository).

3. The repository has been "unforked" from the original template - if you've cloned it before, please remove and do it again.

4. It is easy to add your own robot to the robots folder. If you want to contribute, create a pull request.

The code is in a "sweet spot" where everything works as intended. I'll be moving my development to branches, leaving the "main" branch as stable as I can make it.

Let me know if you have any questions.

On Tue, Dec 3, 2024 at 7:42 PM Sergei Grichine <vital...@gmail.com> wrote:

Hi All,

Please note that I checked in a massive change to GitHub today, moving around robot-specific files and assets.

The idea is to be able to support multiple robot_model's with different bodies and sensors, but still sharing common architecture.

The "assets" directory now contains maps, meshes, waypoints and worlds subdirectories.

The "robots" directory has sim, dragger and plucky (launching sim works, others TBD)

Launch files have been changed slightly, but they have to stay in place - in the common "launch" folder due to specifics of the colcon build process.

Code is, as always, here: https://github.com/slgrobotics/articubot_one

--

Best Regards,

-- Sergei

--

Best Regards,

-- Sergei

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[Sergei Grichine]

No, there's no micro ROS. The "Wheels/Base driver” is an Arduino code, running, for example, on Dragger's Arduino Mega 2560.

It talks to Articulated Robotics ROS node via USB:

https://github.com/slgrobotics/Misc/tree/master/Arduino/Sketchbook/DraggerROS

More here:

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

Create 1 Turtlebot uses traditional Base driver:

https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Create1

Best Regards, 
-- Sergei Grichine
   

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/66B6B2C8-4D2D-4B3A-8A57-99611C0E8F38%40gmail.com.

[Pito Salas]

Sergei

I am catching up with my new robot! It’s my first dive into making the whole thing (hardware and software) myself and using ROS2. Note my initial prototype is made out of wood so I can get the shapes and dimensions right first. Anyway….

Questio n: What is the reason why you chose not to use microros?

Pito

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/CA%2BKVXVP9Stn-DF9TzQ9%3DrzRLec9k6q9X6H27KiiN%3DY6LVqfnUA%40mail.gmail.com.

[Sergei Grichine]

Pito,

Congratulations on your progress, your robot looks great. I like the practicality of plywood and use it a lot myself.

You can find an answer to your question about Micro ROS here:

https://groups.google.com/g/hbrobotics/c/Q9GfWUAG8x8

I specifically recommend Michael Wimble's response, as he is our Micro ROS Guru and actually uses it.

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/231F4D0E-737A-4974-B2B7-6109FB00CFBC%40gmail.com.

[James H Phelan]

Pito,

Good work!

Wood it honorable material.

Try laser cut acrylic when you've got it down, it's elegant.

Jim

James H Phelan
"Nihil est sine ratione cur potius sit quam non sit"
Leibniz

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/231F4D0E-737A-4974-B2B7-6109FB00CFBC%40gmail.com.

[Pito Salas]

Yes, that’s what I was thinking. Clear acrylic looks very cool. Where do you get it made?

On Jan 25, 2025, at 10:20 AM, 'James H Phelan' via HomeBrew Robotics Club <hbrob...@googlegroups.com> wrote:

Pito,

Good work!

Wood it honorable material.

Try laser cut acrylic when you've got it down, it's elegant.

Jim

James H Phelan
"Nihil est sine ratione cur potius sit quam non sit"
Leibniz

On 1/24/2025 8:26 PM, 'Pito Salas' via HomeBrew Robotics Club wrote:

Sergei

I am catching up with my new robot! It’s my first dive into making the whole thing (hardware and software) myself and using ROS2. Note my initial prototype is made out of wood so I can get the shapes and dimensions right first. Anyway….

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/d4c7e788-6ea3-4dc1-ad84-e5565e25be95%40hal-pc.org.

[Rafael Skodlar]

Pito,

Good progress. I used plywood to mount computer motherboard, PSU, HDD,
floppy, and CD drives for troubleshooting and repairing PCs in many
places in my career. Advantage of wood in general is in not being
sensitive or generating static electricity.

Check https://www.tapplastics.com/about/locations They sell left
overs that could be used for your projects also. On the other hand, 3D
printed components have the advantage of being lighter and strong
enough for your robot.

Make sure you connect PCBs with ground wire whenever possible. Yes,
cables generally take care of that but some electrons create magical
currents that throw off basic logic if the PCB was not designed right.
Aluminium foil is good to create electric ground on top of a plywood
board. Hold it down with metal standoffs for holding electronic
boards to provide stability.

Rafael

> To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/A14E908D-3CE0-4361-BC84-CF64F314EB15%40gmail.com.

[Marco Walther]

On 1/25/25 07:20, 'James H Phelan' via HomeBrew Robotics Club wrote:
> Pito,
>
> Good work!
>
> Wood it honorable material.

Nothing against wood;-) Especially [model]-plywood;-) I like it much
more than acrylic or similar things. Acrylic is fine, once your design
is final, but so far, none of my robots is really 'final', and adding an
extra hole (or whatever) to a robot is really hard with acrylic.

But one comment on your robot's design. Moving the drive wheels
of-center (back- or forward) makes for a more stable robot, but it
means, the robot needs more space to turn. ROS can handle things like
that, just be sure, to configure it correctly. Otherwise your robot
might bump into things with it's 'butt'.

-- Marco

>
> Try laser cut acrylic when you've got it down, it's elegant.
>
> Jim
>
> James H Phelan
> "Nihil est sine ratione cur potius sit quam non sit"
> Leibniz
>
> On 1/24/2025 8:26 PM, 'Pito Salas' via HomeBrew Robotics Club wrote:
>> Sergei
>>
>> I am catching up with my new robot! It’s my first dive into making the
>> whole thing (hardware and software) myself and using ROS2. Note my
>> initial prototype is made out of wood so I can get the shapes and
>> dimensions right first. Anyway….
>>
>>

>>>> The idea is to be able to support multiple *robot_model*'s

>>>> with different bodies and sensors, but still sharing common
>>>> architecture.
>>>>

>>>> The "*/assets/*" directory now contains /maps/, /meshes/, /
>>>> waypoints/ and /worlds/ subdirectories.
>>>>
>>>> The "*/robots/*" directory has sim, dragger and plucky

>>>> (launching sim works, others TBD)
>>>>
>>>> Launch files have been changed slightly, but they have to

>>>> stay in place - in the common "*/launch/*" folder due to

>>>> specifics of the colcon build process.
>>>>
>>>> Code is, as always, here: https://github.com/slgrobotics/
>>>> articubot_one
>>>>
>>>> --
>>>> Best Regards,
>>>> -- Sergei
>>>>
>>>>
>>>>
>>>> --
>>>> Best Regards,
>>>> -- Sergei
>>>>
>>>> --
>>>> You received this message because you are subscribed to the
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>>>> M1r9bomg%40mail.gmail.com?utm_medium=email&utm_source=footer>.

>>>
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>>
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[Pito Salas]

Marco

Thanks!  I agree with all about wood. But I did notice that it acts a little like a piano sound board, it really amplifies the noise from the robot motors and other stuff.

Now about your point. My wheels are definitely not at the midpoint. Did you mean that they should be more off center? Or were you making the point that the urdf needs to be updated to reflect this?

Thanks!

Pito

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[Sergei Grichine]

While this thread was taken over by woodpeckers (no offence, guys - start a new thread please) - here is the news on ROS Jazzy and my "articubot_one" codebase.

I merged code from my "dev" branch into "main". All three robots should work in Gazebo sim, and they work in the flesh here at my place.

There are multiple improvements,  most noticeable is handling of Range Sensors (sonars, ultrasonic Pings).

The code and docs are here as always:

- https://github.com/slgrobotics/articubot_one

- https://github.com/slgrobotics/robots_bringup

[camp .]

> Otherwise your robot might bump into things with it's 'butt'.

    It's called "body awareness." - cp

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/c9210d1a-5b80-4082-b2a1-90def9027a29%40gmail.com.

[Marco Walther]

On 1/25/25 17:37, 'Pito Salas' via HomeBrew Robotics Club wrote:
> Marco
>
> Thanks!  I agree with all about wood. But I did notice that it acts a
> little like a piano sound board, it really amplifies the noise from the
> robot motors and other stuff.
>
> Now about your point. My wheels are definitely not at the midpoint. Did
> you mean that they should be more off center? Or were you making the
> point that the urdf needs to be updated to reflect this?

As always, you have choices;-) All of them have their pro's & con's. But
at the end of the day, make sure, your physical robot, the URDF and any
nav config agree to be the same robot;-)

-- Marco

>>>>> Dragger <https://github.com/slgrobotics/robots_bringup/tree/main/
>>>>> Docs/Dragger>

>>>>>
>>>>> Create 1 Turtlebot uses traditional Base driver:
>>>>>
>>>>> https://github.com/slgrobotics/robots_bringup/tree/main/Docs/

>>>>> Create1 <https://github.com/slgrobotics/robots_bringup/tree/main/
>>>>> Docs/Create1>

>>>>>
>>>>> Best Regards,
>>>>> -- Sergei Grichine
>>>>>
>>>>> On Tue, Jan 7, 2025, 11:40 PM Pito Salas <pito...@gmail.com
>>>>> <mailto:pito...@gmail.com>> wrote:
>>>>>
>>>>>    Question: is the micro ros firmware in there somewhere too? Or do
>>>>>    you) assume it?
>>>>>    Pito Salas
>>>>>    Computer Science
>>>>>    Brandeis Univeristy
>>>>>
>>>>>
>>>>>>    On Jan 8, 2025, at 12:11 AM, Sergei Grichine

>>>>>>    <vital...@gmail.com <mailto:vital...@gmail.com>> wrote:
>>>>>>
>>>>>>    
>>>>>>    Hi All,
>>>>>>
>>>>>>    a lot has happened in thehttps://github.com/slgrobotics/
>>>>>> <https://github.com/slgrobotics/>
>>>>>>    articubot_one lately:
>>>>>>
>>>>>>    1. All three robots work in Gazebo Sim, and they mostly work in
>>>>>>    reality.
>>>>>>    2. Documentation has been updated (robots_bringup repository).
>>>>>>    3. The repository has been "unforked" from the original template
>>>>>>    - if you've cloned it before, please remove and do it again.
>>>>>>    4. It is easy to add your own robot to the robots folder. If you
>>>>>>    want to contribute, create a pull request.
>>>>>>
>>>>>>    The code is in a "sweet spot" where everything works as
>>>>>>    intended. I'll be moving my development to branches, leaving the
>>>>>>    "main" branch as stable as I can make it.
>>>>>>
>>>>>>    Let me know if you have any questions.
>>>>>>
>>>>>>    On Tue, Dec 3, 2024 at 7:42 PM Sergei Grichine

>>>>>>    <vital...@gmail.com <mailto:vital...@gmail.com>> wrote:
>>>>>>
>>>>>>        Hi All,
>>>>>>
>>>>>>        Please note that I checked in a massive change to GitHub
>>>>>>        today, moving around robot-specific files and assets.
>>>>>>
>>>>>>        The idea is to be able to support multiple *robot_model*'s
>>>>>>        with different bodies and sensors, but still sharing common
>>>>>>        architecture.
>>>>>>
>>>>>>        The "*/assets/*" directory now contains /maps/, /meshes/, /
>>>>>>        waypoints/ and /worlds/ subdirectories.
>>>>>>
>>>>>>        The "*/robots/*" directory has sim, dragger and plucky
>>>>>>        (launching sim works, others TBD)
>>>>>>
>>>>>>        Launch files have been changed slightly, but they have to
>>>>>>        stay in place - in the common "*/launch/*" folder due to
>>>>>>        specifics of the colcon build process.
>>>>>>
>>>>>>        Code is, as always, here:https://github.com/slgrobotics/
>>>>>> <https://github.com/slgrobotics/>
>>>>>>        articubot_one
>>>>>>
>>>>>>        --         Best Regards,
>>>>>>        -- Sergei
>>>>>>
>>>>>>
>>>>>>
>>>>>>    --     Best Regards,
>>>>>>    -- Sergei
>>>>>>
>>>>>>    --     You received this message because you are subscribed to the
>>>>>>    Google Groups "HomeBrew Robotics Club" group.
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>>>>>>    it, send an email tohbrobotics...@googlegroups.com

>>>>>> <mailto:hbrobotics+...@googlegroups.com>.
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>>>>>> <https://groups.google.com/d/msgid/>
>>>>>>    hbrobotics/CA%2BKVXVNj6u%3D8%2BJTcf-ENnLQ3RynZmxPt1UUYXeCCJ-
>>>>>>    M1r9bomg%40mail.gmail.com <http://40mail.gmail.com/><https://
>>>>>> groups.google.com/d/msgid/ <https://groups.google.com/d/msgid/>
>>>>>>    hbrobotics/CA%2BKVXVNj6u%3D8%2BJTcf-ENnLQ3RynZmxPt1UUYXeCCJ-
>>>>>>    M1r9bomg%40mail.gmail.com <http://40mail.gmail.com/>?

>>>>>> utm_medium=email&utm_source=footer>.
>>>>>
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[Sergei Grichine]

Sorry, guys - does the subject of this thread say ”wooden robots"?

Start a new thread and go for it. Pretty rude to respond without reading previous emails and completely off-topic.

Best Regards, 
-- Sergei
   

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[Sergei Grichine]

I merged code from my "dev" branch into "main". All three robots should work in Gazebo sim, and they work in the flesh here at my place.

There are multiple improvements,  most noticeable is handling of Range Sensors (sonars, ultrasonic Pings).

The code and docs are here as always:

- https://github.com/slgrobotics/articubot_one

- https://github.com/slgrobotics/robots_bringup

Best Regards, 
-- Sergei

[Pito Salas]

Sir, I am wondering whether I should consider switching from Linorobot3 to your stuff. Have you compared them? Are they at all analogous? Just wondering because I’m in the middle of building a new robot based on Linorobot2 and I think I should evaluate the options. What would you say?

Pito Salas 

Computer Science

Brandeis University

 

On Jan 29, 2025, at 11:59 PM, Sergei Grichine <vital...@gmail.com> wrote:



I merged code from my "dev" branch into "main". All three robots should work in Gazebo sim, and they work in the flesh here at my place.

There are multiple improvements,  most noticeable is handling of Range Sensors (sonars, ultrasonic Pings).

The code and docs are here as always:

- https://github.com/slgrobotics/articubot_one [github.com]

- https://github.com/slgrobotics/robots_bringup [github.com]

Best Regards, 
-- Sergei

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[Sergei Grichine]

Dear Pito Salas,

Linorobot is a fine project with a large team and significant following, including very competent members of Home Brew Robotics. 

I'd strongly recommend to stay on your course and use Linorobot code base, as you will be able to get timely assistance and expert advice.

Thank you for your consideration.

My Very Best Regards, 
-- Sergei
   

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[Pito Salas]

Thanks Sergei!

Pito Salas 

Computer Science

Brandeis University

 

On Jan 30, 2025, at 12:07 PM, Sergei Grichine <vital...@gmail.com> wrote:



To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/CA%2BKVXVMtk%3D0_8p0%2BxKToy0szBsX3VAQR37QyLuexxpHriYNfSA%40mail.gmail.com.

[Sergei Grichine]

Recently, BatteryStateBroadcaster component gave me a lot of grief, which resulted in some code and a write-up which could be useful to some:

https://github.com/slgrobotics/robots_bringup/blob/main/Docs/Sensors/BatteryStateBroadcaster.md

Please note that related code is in "dev" branch here: https://github.com/slgrobotics/articubot_one/tree/dev

The "main" branch is kept stable, and battery monitoring is not there yet.

Let me know if you notice any errors or omissions.

Best Regards,

-- Sergei

[Sergei Grichine]

I merged my "dev" branch into "main". Sonars and Battery Monitoring are default stable features now.

See:

https://github.com/slgrobotics/articubot_one

https://github.com/slgrobotics/robots_bringup/blob/main/Docs/Sensors/BatteryStateBroadcaster.md

https://github.com/ipa320/ros_battery_monitoring/issues

https://github.com/slgrobotics/robots_bringup/blob/main/Docs/Dragger/README.md#raspberry-pi-5-dragger-build-and-run-instructions

[Sergei Grichine]

I did another merge of the "dev" branch to "main". With introduction of the Battery Monitoring component, you need to clone ros_battery_monitoring package next to articubot_one:

===============================================================================

Build "articubot_one" robot codebase.

Note: If you want to browse robot's code look here: https://github.com/slgrobotics/articubot_one

Here we build a ROS2 package we need to run Dragger, Plucky or Turtle in Gazebo sim - or use RViz to control physical robots.

So, on the Desktop machine:

mkdir -p ~/robot_ws/src
cd ~/robot_ws/src
git clone https://github.com/slgrobotics/articubot_one.git
git clone https://github.com/slgrobotics/ros_battery_monitoring.git
cd ~/robot_ws

sudo rosdep init    # do it once, if you haven't done it before
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -r -y

colcon build

==============================================================================

You will need to pull the latest and do rosdep commands to build the packages. This relates to Desktop and on-board RPi machines.

[James Ronald]

Sergei,

Thanks for documenting your efforts.  I have been following and starting to resurrect my robots after being idle for 12 or so years while I did other things.

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[Sergei Grichine]

I did another merge of the "dev" branch to "main", and re-created "dev" branch from "main" (please re-clone "dev" if you cloned that branch before).

The main treat is the updated https://github.com/slgrobotics/articubot_one/blob/main/robots/plucky/config/nav2_params.yaml

I went through the file line by line using Automatic Addison's guide https://automaticaddison.com/ros-2-navigation-tuning-guide-nav2/

As a result, Plucky is MUCH better behaved now. Dragger and Turtle are due for the same.

Read below to avoid build errors if you missed my previous update.

[Sergei Grichine]

I finally figured out all the glitches (well, most of them) - and got Dragger behaving well outdoors (GPS, Nav2).

Uploaded a couple videos - note the fearless human obstacle, not flinching when facing the mechanical beast ;-)

https://photos.app.goo.gl/eAdKiD7YYnL9Vou6A

Code is, as always, here: https://github.com/slgrobotics/articubot_one (dev branch most current).

[Michael Wimble]

Well, I’m impressed! Time for another talk to the club, maybe 2 hours this time. Don’t forget to show how well it does going through Camp’s apartment while you’re at it. Hope to hear more at the next Tuesday ROS SIG meeting.

[Sergei Grichine]

Michael, thank you for your kind words.

I owe the Clubs (RSSC.org and HomeBrew) a lot: motivation, hints, advice and recipes - and code and personal guidance. Jim DiNunzio taught me ROS/GPS, you - Nav2 and Behavior trees, Camp - an example of perseverance, and so did everyone posting their experiences. My work is a collective effort.

I am always happy to share, although my current focus on ROS might be not relevant to most. Code is King, it's all on my Github for the curious.

Let's make more (complex) robots!  (Camp will tell us what the ultimate goal is spoiler: world domination)

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[Sergei Grichine]

I added another guide to the docs - this time a how-to on Making Your Own ROS2 Robot.

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

Hope this helps. Suggestions welcomed.

Best Regards,

-- Sergei