This repository provides a head start for mobile robot development when using the development kit from Weston Robot.
The code contained in this repository is meant to be used as a reference for integrating Weston Robot's hardware with ROS2's Navigation2 stack. It includes sample launch files for bringing up the robot, running SLAM, and navigation applications.
Code is provided as-is and may require modifications to work with your specific hardware configuration.
The following hardware configurations are supported:
| Name | Documentation | Source Code |
|---|---|---|
| UGV Development Kit V1.0 | wiki | ugv_devkit_v1_bringup |
| Sensor kit | Mount Location | Documentation | Source Code |
|---|---|---|---|
| Livox Mid360 Lidar + IMU | Top | docs | mid360_sensor_kit_bringup |
| Vision | Top | docs | vision_sensor_kit_bringup |
| W200D Ultrasonic Sensors | Base | TBD | w200d_sensor_kit_bringup |
| Base | Documentation |
|---|---|
| Ranger Mini 2.0 | wiki |
| Scout Mini | wiki |
Note: Robot bases are used for testing and development purposes only. Other robot bases should also be compatible with the provided chassis and sensor kits.
| Operating System | Framework |
|---|---|
| Ubuntu 22.04 | ROS2 Humble |
Please refer to the installation guide for detailed instructions on setting up your development environment.
Please refer to the running guide for detailed instructions on running the sample applications.