Architecture
This reference platform separates planning and control. ROS 2 nodes manage teleoperation, navigation, mapping, and visualization. The ESP32-S3 motor controller handles timing-sensitive motor output and safety behavior.
Documentation model
Each project page can include wiring diagrams, control flow, launch files, firmware setup, test logs, and video demonstrations.
Expansion points
- Add encoder odometry.
- Integrate frontier detection.
- Add obstacle avoidance.
- Record rosbag datasets for repeatable testing.