After some Navigation2 (aka Nav2) parameter tweaking and some bug fixes with my odometry code, I got my sub-$100 Hadabot robot kit working with Nav2’s go-to-goal functionality.
Still much work to be done for Nav2 localization with range sensor data and/or sensor fusion with a IMU and SLAM. This will involve offering a Hadabot range-sensor add-on kit, as well as an IMU kit - that will “bolt on” to the base Hadabot robot kit.
More info (including video of the robot in action) in my latest post - ROS 2 Nav2 Go-To-Goal using the low-cost Hadabot Turtle robot kit.
For those unfamiliar with my Hadabot effort - Hadabot is a low-cost robot kit for software engineers, students, and makers to learn ROS 2 and robotics.
The Hadabot runs off an ESP32 microcontroller board (running MicroPython), is easy to set up, and leverages Docker to sandbox the ROS 2 install libraries from your host system. The user interfaces, including an browser-based VSCode, all run on in the web browser to ensure a consistent user experience.
Two ways to learn with Hadabot:
I’m also looking to work with CS / robotics professors to put together a more structured robotics syllabus using the Hadabot kit. If you are a professor and/or know of one who’s interested in a low-cost kit for their classroom, would love to connect!
As usual, love to hear feedback, suggestions, encouragements (discouragements).
Thanks and happy building!
Jack “the Hadabot Maker”