SLAM Robot Project: From Firmware to Navigation

SLAM Robot Project: From Firmware to Navigation

1. Uploading Firmware to ESP32

Before running ROS 2 nodes, ensure the micro-ROS firmware is running on your robot’s controller. Open the micro-ROS project in your IDE (e.g., Arduino IDE or PlatformIO). Configure your WiFi SSID/Password and the PC IP Address (Agent IP). Set the Agent Port to 8090.

$ source ~/esp/esp-idf/export.sh
$ idf.py set-target esp32s3
$ idf.py menuconfig

Flash the code to the ESP32 board.

$ idf.py flash monitor
$ idf.py -p /dev/ttyUSB0 flash monitor  # port

2. Start micro-ROS Agent

The agent acts as a bridge between the robot (ESP32) and the ROS 2 environment.

Terminal 1

source ~/uros_ws/install/setup.bash
export ROS_DOMAIN_ID=15
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8090

3. Manual Control Test

Check the communication by moving the robot using your keyboard. Terminal 2

export ROS_DOMAIN_ID=15
ros2 run teleop_twist_keyboard teleop_twist_keyboard

4. SLAM (Map Building)

Generate a 2D map of your environment using LiDAR data. Terminal 3: Run Gmapping

cd ~/gmapping_ws
source install/setup.bash
export ROS_DOMAIN_ID=15
ros2 launch slam_gmapping slam_gmapping.launch.py

Terminal 4: Visualization

export ROS_DOMAIN_ID=15
rviz2

In RViz2: Set Fixed Frame to map. Add Map and LaserScan displays. Action: Move the robot slowly using the keyboard to fill the map.

5. Saving the Map

Once the map is complete, save it to files (.yaml and .pgm).

Terminal 5

export ROS_DOMAIN_ID=15
ros2 run nav2_map_server map_saver_cli -f ~/my_new_map

6. Autonomous Navigation

Use the saved map to let the robot navigate by itself.

Stop the SLAM and Teleop nodes (Ctrl+C).

Run Navigation:

Terminal 6

cd ~/yahboomcar_ws
source install/setup.bash
export ROS_DOMAIN_ID=15
ros2 launch yahboomcar_nav navigation_dwb_launch.py map:=/home/yahboom/my_new_map.yaml

In RViz2:

Use 2D Pose Estimate to align the robot’s current position on the map. Use Nav2 Goal to set a destination. The robot will move autonomously.