Base & controller
Chassis CAD, wheel geometry, encoders, motor drivers, power and embedded control define mobility.
Open engineering references · 03
Mobile robots, navigation & service bases
Connect chassis, compute, sensing, robot descriptions, mapping and navigation while keeping research demonstrations separate from safe operation in homes, factories and public environments.
Read the asset type first
Different files answer different questions; one cannot stand in for another.
Description & transforms
URDF/Xacro, frames, sensor extrinsics and covariance connect hardware to localisation and planning.
Navigation
Mapping, localisation, costmaps, planners, controllers and recovery behaviour form a configurable system, not a single algorithm.
Deployment
Site maps, traffic rules, speed zones, human interaction, supervision and incident response determine operational safety.
Official and first-party project gateways
Every record states what is available—and what it still cannot prove.
Sources checked 4 August 2026. External projects change; confirm version, licence and maintenance status again at the original source before use.
- ROS 2 packages and robot descriptions
- Navigation, SLAM and examples
- Official e-Manual and related simulation repositories
Core repository is Apache-2.0; CAD, component documentation and related repositories must be checked at their own source.
Widely used education and research platform with active ROS branches
Learn the complete path from a documented mobile base to ROS 2 navigation experiments.
Branch and ROS distribution compatibility matter. Tutorial success does not establish environmental robustness or public-space safety.
TurtleBot3 is a good integration reference because hardware, descriptions and software are visible. Record the exact model and ROS branch before reproducing results.
- Planners, controllers and behaviour trees
- Costmaps, localisation and lifecycle tooling
- Setup, tuning and testing guidance
Nav2 source packages use open-source licences; confirm each package and third-party plugin licence in the selected distribution.
Production-oriented open navigation framework; deployment assurance remains application-specific
Structure and tune a ROS 2 navigation system for supported mobile platforms.
Nav2 does not supply the physical robot’s braking, sensor coverage, site rules or safety case. Parameters must be validated on the real base and environment.
Treat navigation as a managed subsystem: version maps and parameters, log interventions, inject failures and verify bounded recovery.
- Schematics and PCB Gerbers
- Bill of materials
- Firmware source links
Repository publishes open hardware and software materials; verify the exact licence files, component rights and manufacturing obligations before redistribution.
Board-level reference used in TurtleBot3 and OP3 ecosystems
Understand how an embedded controller, interfaces and open board files support a robot platform.
Gerbers and a BOM do not replace electrical compliance, supply-chain verification, production testing or firmware security review.
A useful example of hardware openness, but a new product still needs revision control, approved substitutes, board bring-up tests and conformity work.
Before adoption
Move from ‘I found the files’ to ‘I know the next validation step’.
- 01
Freeze the robot model, ROS distribution, package branches, maps, parameters and sensor calibration as one tested configuration.
- 02
Measure stopping distance, localisation loss, obstacle coverage, network loss and recovery under realistic speed and payload.
- 03
Define human right-of-way, speed zones, supervision and fallback for each operating site.
- 04
Separate a laboratory navigation benchmark from evidence for homes, factories, roads or public venues.