The ROS Robot Project

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Note

This project is still under development!

This is a 3D render of the CAD drawings.

Overview

Future Re-design

This is the first revision of the robot. It features a camera for object detection, and a LiDAR sensor for SLAM.

I will begin deisgn work on the second revision/re-design of this robot as soon as this revision is in a state where it can perform mapping and navigation (SLAM), and basic object detection using the camera.

System Architecture and Mechanical Design Overview

System Architecture

The general architecture of the robot's electronics system consists of a main computer (the Raspberry Pi 5) and two, less powerful microcontrollers (the Raspberry Pi Pico/RP2040). The Pi 5 handles image processing, mapping & navigation, and any other type of resource-intensive processing whilst the less-powerful Picos handle I/O for motors, sensors, LEDs, etc.

ROS is used to handle communications between multiple nodes either on the same machine (i.e. a mapping node and a navigation node running on the Pi 5) or between external nodes (i.e. the two Raspberry Pi Picos running microROS). Both Raspberry Pi Picos are connected to the Pi 5 via USB cables.

More details regarding the electronics design here.

Mechanical Design Overview

The mechanical design of the robot is quite simple. The chassis of the robot is 3D printed in two halves using PLA filament (more details regarding 3D printing here) and the robot uses four geared DC motors (Namiki 22CL-3501PG) in a differential drive configuration.

File Structure

There are 5 folders in this repository.
Their names and purposes are as follows:

.github
GitHub issue templates, pull request templates, etc.

assets
Assets used on GitHub (such as images used in this README file).

cad_files
3D CAD design files and 3D printing files for the chassis and other mechanical parts of the robot.

electronics
Overall circuit diagrams and PCB design files for the robot.

source_code
Source code for the ROS package of the robot and for the firmware of the Raspberry Pi Picos.

Contact

You can contact me via e-mail.
E-mail: samyarsadat@gigawhat.net
If you think that you have found a bug or issue please report it here.

Contributing

Please take a look at CONTRIBUTING.md for contributing.

Credits

Role	Name
Lead Developer	Samyar Sadat Akhavi
CAD Design	Samyar Sadat Akhavi
PCB Design	Samyar Sadat Akhavi

Copyright © 2022-2025 Samyar Sadat Akhavi.