Hello, I’d like to introduce a project I’ve been working on: LGDXRobot2.
LGDXRobot2 is an open-source Mecanum-wheel chassis for building ROS 2 robots with decent performance using low-cost hardware.
The control system of LGDXRobot2 is separated into two components: a microcontroller responsible for motor control and PID, and a PC (which can be a Jetson, Raspberry Pi, or NUC) for running ROS 2. For PID tuning, I’ve developed a GUI tool called ChassisTuner, which provides fine-tuning with a live chart.
ROS 2 Support
LGDXRobot2 includes a URDF model for RViz visualisation, remote control via the joy node, navigation with Nav2, and simulation in Webots. It also includes several features that make working on ROS 2 easier:
- Docker images that include ROS 2 and a web-based remote control interface, allowing access to ROS 2 GUI tools especially using Nav2 in RViz. The images support both AMD64 and ARM64 architectures.
- Parameter profiles for bringing up Nav2. By using profile parameters, you can switch between different parameter sets when running Nav2 on different devices or in simulation.
Demonstration
Getting Started
LGDXRobot2 is distributed across several Git repositories. The project is released under the MIT Licence, except for ChassisTuner, which is released under GPLv3.
- LGDXRobot2 Design: https://github.com/yukaitung/lgdxrobot2-design
- LGDXRobot2 MCU: https://github.com/yukaitung/lgdxrobot2-mcu
- LGDXRobot2 ChassisTuner: https://github.com/yukaitung/lgdxrobot2-chassistuner
- LGDXRobot2 ROS2: https://github.com/yukaitung/lgdxrobot2-ros2
It may look a bit overwhelming with multiple repositories, so here is the full documentation for the design, building the robot and using it with ROS 2:
