This repository contains the complete implementation of ArduinoBot, a comprehensive ROS 2 robotics project developed through a "Learn by Doing" approach. The project demonstrates mastery of ROS 2 concepts from simulation to real hardware, featuring Arduino-based control, voice integration, and advanced motion planning capabilities.
- Built a complete robot system Simulation at the best
- Mastered ROS 2 architecture and core concepts
- Implemented voice control using Amazon Alexa integration
- Created a digital twin for safe development and testing
- Developed in both Python and C++ for comprehensive understanding
- Applied advanced robotics concepts including kinematics and trajectory planning
arduinobot_description - Robot modeling and visualization
- URDF robot descriptions with optimized physics engine integration
- Visual and collision meshes
- Gazebo-compatible robot models
arduinobot_firmware - Arduino-based hardware control
- Low-level motor control and sensor interfaces
- Serial communication protocols
- Real-time hardware abstraction layer
arduinobot_bringup - System orchestration
- Launch file configurations for simulation and real hardware
- Parameter management and system startup
- Environment-specific settings
arduinobot_controller - Motion control systems
- Real-time robot control algorithms
- Hardware drivers and interfaces
- Control loop implementations
arduinobot_moveit - Advanced motion planning
- MoveIt! 2 configuration and setup
- Trajectory planning and execution
- Collision detection and path optimization
arduinobot_msgs - Custom message definitions
- Service and action interfaces
- Custom data types for robot communication
- Protocol definitions
arduinobot_cpp_examples & arduinobot_py_examples - Implementation examples
- Publisher/Subscriber patterns
- Service client/server examples
- Action implementations in both C++ and Python
arduinobot_remote - Remote control capabilities
- Task server implementations
- Remote command processing
- Network communication interfaces
arduinobot_utils - Helper tools and utilities
- Common functions and utilities
- Configuration helpers
- Debug and diagnostic tools
- ROS 2 (Robot Operating System)
- Gazebo - 3D robot simulation
- RViz2 - Robot visualization
- MoveIt! 2 - Motion planning framework
- ros2_control - Real-time control framework
- URDF - Robot description format
- TF2 - Coordinate frame transformations
- Arduino IDE - Hardware programming
- Amazon Alexa Skills Kit - Voice control
arduinobot/
├── arduinobot_bringup/ # Launch configurations and startup scripts
├── arduinobot_controller/ # Robot control algorithms and drivers
├── arduinobot_cpp_examples/ # C++ implementation examples
├── arduinobot_description/ # URDF robot models and descriptions
├── arduinobot_firmware/ # Arduino firmware for hardware control
├── arduinobot_moveit/ # MoveIt! 2 motion planning configuration
├── arduinobot_msgs/ # Custom ROS 2 messages and services
├── arduinobot_py_examples/ # Python implementation examples
├── arduinobot_remote/ # Remote control and task management
└── arduinobot_utils/ # Utility functions and helper tools
- Publisher/Subscriber communication patterns
- Custom message and service definitions
- Parameter management and configuration
- Launch file orchestration
- Complete robot URDF modeling
- Gazebo simulation environment
- Physics-based simulation
- Sensor integration and visualization
- Real-time robot control with ros2_control
- Timer-based control loops
- Service-based robot interactions
- Hardware abstraction layer
- TF2 coordinate frame management
- MoveIt! 2 integration for trajectory planning
- Forward and inverse kinematics
- Collision detection and avoidance
- Action server/client implementations
- Robot state monitoring
- Task scheduling and execution
- Amazon Alexa skill development
- Voice command processing
- Natural language to robot action mapping
- Arduino-based robot controller
- Serial communication protocols
- Sensor integration and feedback
- Real-world deployment and testing
- Ubuntu 22.04 LTS
- ROS 2 Humble
- Python 3.8+
- C++ compiler with C++17 support
- Arduino IDE
- Gazebo 11
# Clone the repository
git clone https://github.com/yourusername/arduinobot.git
cd arduinobot
# Install dependencies
rosdep install --from-paths . --ignore-src -r -y
# Build the workspace
colcon build
# Source the workspace
source install/setup.bash
# Launch the simulation
ros2 launch arduinobot_bringup sim_launch.py# Launch complete simulation environment
ros2 launch arduinobot_bringup sim_launch.py
# Control robot via MoveIt! and RViz2
ros2 launch arduinobot_moveit moveit_sim.launch.py
# Test C++ examples
ros2 run arduinobot_cpp_examples simple_publisher
# Test Python examples
ros2 run arduinobot_py_examples simple_subscriber# Connect to real robot hardware
ros2 launch arduinobot_bringup real_launch.py
# Enable remote control
ros2 run arduinobot_remote task_server
The modular architecture allows for independent development and testing of each component while maintaining system integration.
## 🔄 Development Workflow
1. **Concept Learning**: Understanding theoretical foundations
2. **Simulation Development**: Implementing features in Gazebo
3. **Testing & Validation**: Comprehensive testing in simulation
4. **Performance Optimization**: Fine-tuning for real-world operation
## 📈 Future Enhancements
- [ ] Computer vision integration
- [ ] Machine learning-based behavior
- [ ] Multi-robot coordination
- [ ] Cloud-based robot management
- [ ] Advanced sensor fusion
## 🤝 Contributing
This project represents my learning journey through ROS 2 robotics. While it's primarily educational, I welcome discussions about robotics concepts and implementation approaches.
## 📚 Resources & References
- [ROS 2 Documentation](https://docs.ros.org/en/humble/)
- [MoveIt! 2 Documentation](https://moveit.ros.org/)
- [Gazebo Tutorials](http://gazebosim.org/tutorials)
- [Arduino Documentation](https://www.arduino.cc/reference/en/)
## 📧 Contact
Feel free to reach out if you have questions about the implementation or want to discuss robotics development!
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**Note**: This project demonstrates practical application of ROS 2 concepts learned through hands-on development. All code is thoroughly commented and documented for educational purposes.