A custom-configured remote-operable kart with a variety of sensors equipped onto it, along with a Raspberry Pi 5, expansion board, and battery pack, to allow for robotics and sensing research. This repo is for the work-in-progress custom software to allow for a more open and configurable testing environment.
Sensors:
- MS200k LiDAR
- Camera
- Sonar
- mmWave Radar
Other:
- Raspberry Pi 5 & Add-on Board
- Battery Pack
- Wireless controller and USB dongle
- Ubuntu 24.04
- ROS2 Jazzy LTS
- Configured to work without contanerization
Software utilities:
- OpenSSH for remote terminal
- Samba for cross-platform filesharing
- Foxglove Bridge for ROS2 telemetry
Running ROS2 Jazzy natively on Ubuntu 24 (no docker) to allow for as little delay as possible and to make operation/debugging simpler.
Node List
MS200_ros- For LiDAR
joystick_drivers- Node for processing controller inputs into the ROS environment