This repository is based on the course on mobile robotics interface with ROS Noetic

We will start with installation of Rosserial Package installation into our system . Which is going to be utilized for ESP32 and ROS Communication

• esp_src : Contains scripts for esp32 microcontroller
• src : contains scripts of nodes basedon ROS1
• notes : Contains all lecture notes taught during the course

Source Codes and lectures are arranged with the following Order

- **Section 1:** Basic ROS - ESP32 Interfacing
    - Led Toggling
    - Ultrasonic Sensor controlling Turtlesim
- **Section 2:** ROS based Car driving
    - Motor Controlling
    - cmd_vel to Pwm Serial
    - Car Control over Wifi
- **Section 3:** Robot car and ROS services
    - Encoders interfacing
    - ROS Service Nodes
    - Drove robot through Services on Time.
- **Section 4:** Odometery publishing Car Driving
    - Encoders ticks profiling
    - Odom differential Drive Rviz
    - transforms

• Clone the repository in you Workspace

mkdir -p ~/catkin_ws/src ## if not already created
cd ~/catkin_ws/src
git clone https://github.com/noshluk2/ROS-ESP32-Mobile-Robotics.git

• Source your ROS installation

source /opt/ros/noetic/setup.bash

• Build your workspace

cd ~/catkin_ws
catkin_make

• Source your Workspace in any terminal you open to Run files from this workspace ( Basic thing of ROS )

source ~/catkin_ws/devel/setup.bash

• TurtleSim Obstical Avoiding using real World Sensor

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• Encoders Publishing Node from ESP32

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• Robot Driving over WiFi using teleOp package

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• ROS Service for Encoder Ticks Calculation

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• Transforms and Odometery of Robot to Rviz

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Hardware Requirments

• ESP32
• Robotic Car Kit
• Battery and Charger
• Ultrasonic Sensor
• Motor Driver ( L298D)
• Jumper Wires

Software Based

• Ubuntu 20.04 (LTS)
• ROS2 - Foxy Fitzroy
• Python 3.6
• Arduino Ide
• Vscode

Skill Based

• Basic C++ and Python Programming
• Basic ROS1 Nodes Communication
• Launch Files
• Motivated mind :)

[Discounted Link]

Muhammad Luqman (ROS Simulation and Control Systems) - Profile Link

Distributed under the GNU-GPL License. See LICENSE for more information.