Anzym ROS2 Workspace

Project Overview

This repository contains the ROS2 software stack for the Rosmaster X3 Plus robot, powered by an Nvidia Jetson Orin NX (16GB). The project is built step-by-step, prioritizing modularity, clear documentation, and stability.

Hardware Specifications

• Robot Platform: Rosmaster X3 Plus (Mecanum Drive)
• Compute Unit: Nvidia Jetson Orin NX (16GB RAM)
• OS: Ubuntu 20.04/22.04 (Jetpack)
• Middleware: ROS2 Humble Hawksbill (or Foxy/Iron depending on exact Jetpack version)

Documentation

Documentation is maintained in the docs/ directory.

• Project Roadmap
• Development Progress
• Rosmaster Hardware & Software Optimization Guide
• Setup & Guides

Repository Structure

• src/: Source code for ROS2 packages.
  • anzym_core: Core package for custom configurations and launch files.
• docs/: Project documentation and guides.

Usage

All core hardware components are integrated into a single bringup launch.

1. On the Robot:

source install/setup.bash
ros2 launch anzym_core bringup_launch.py

This starts:

• Motor Driver & Mecanum Kinematics
• IMU (Acceleration/Gyro)
• YDLidar (Laser Scan)
• Robot Arm visualization
• Triple Camera Feed (Arm RGB, Astra RGB-D)

2. On the Workstation:

• Use RViz to visualize /scan and image topics.
• Run ros2 launch anzym_core joystick_control_launch.py launch_driver:=False for teleop.