Wave Rover ROS 2 Navigation Stack

hardware requirements:

• Rubik Pi 3
• Slamtec RPLidar A1
• BNO055 IMU
• RF2O laser odometry
• SLAM Toolbox

Included packages

This repository contains only the project-specific packages:

• wave_rover_base - base motor command node
• rover_description - URDF and robot_state_publisher
• rover_bringup - launch files and configs
• ble_server - handles bluetooth connectivity
• app - creates moblie application

Requirements

• Ubuntu 24.04
• ROS 2 Jazzy

Open source packages needed:

• bno055 - ros2 package for imu driver
• rf2o_laser_odometry - open source package for lidar odometry
• sllidar_ros2 - open source package for Lidar sensor
• Nav2 - ros2 package for navigation
• Slam Toolbox - ros2 package for SLAM

Clone

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
git clone https://github.com/montse-jara/wave_rover.git .