ROS2 Jazzy + Ubuntu 24.04 + new robot Seggy

[Sergei Grichine]

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]

Long Live the King!

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[Sergei Grichine]

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]

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]

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