Hello everyone, I am happy to announce that LGDXRobot2 now supports ROS 2 Lyrical.
LGDXRobot2 is a mecanum-wheel mobile robot with an RPLIDAR C1, an ICM-20948 9-DOF IMU, and wheel odometry. The robot is fully open source for both hardware and software.
What does ROS 2 Lyrical support mean?
The ROS packages are compilable on Lyrical, as well as a ready-to-use Docker image including GUI access via browser. It also has Nav2 integration support, including sensor integration, tuned parameters for different controllers, and a custom launch file.
Updates
Redesigned ROS Node: The ROS node for the robot’s controller board has been refactored using the C++20 standard.
New RPLIDAR Driver: LGDXRobot2 now uses lgdx_rplidar_c1. It is an RPLIDAR driver developed from scratch that communicates directly with the RPLIDAR through the serial port. It also supports composable nodes and can reconnect to the RPLIDAR. The package is available in the ROS 2 APT repository.
Updated Controller Board Design: The controller board now includes an ICM-20948 9-DOF IMU. The GUI tools also now support magnetometer calibration. The robot no longer relies on an external IMU device. (Originally, it relied on the D435i)
New Domain Name: The project is now hosted on lgdxrobot.uk. Search functionality is also available for the documentation.
Get Started
The GitHub repository contains the latest source code and instructions for installing and using the ROS 2 packages: https://github.com/yukaitung/lgdxrobot2-ros2