ROS 2 Thesis Robot

This repository contains the container source code and tests for the Raspberry Pi side of a ROS 2 mobile robot. Runtime orchestration and configuration live in the separate robot-stack repository. Jetson anomaly detection lives in the separate jetson-stack repository.

Active architecture

Raspberry Pi 5
├── DRV8833 motor control through GPIO
├── RPLidar, RealSense, SLAM, AMCL and Nav2
├── rosbridge WebSocket on port 9090
└── Foxglove bridge on port 8765

Jetson Orin
└── YOLO anomaly detection through rosbridge

The active motor path is rpi_direct. Wheel encoders, the TCA9548A multiplexer and Arduino serial motor control are not part of the deployed configuration.

Containers

Directory	Active responsibility
bridge_cont	Direct Raspberry Pi GPIO motor control through DRV8833
laser_driver_cont	RPLidar ROS 2 driver
realsense_cont	RealSense RGB, depth and IMU streams
slam_cont	Mapping, map persistence and laser odometry fallback
nav_cont	Nav2, AMCL, command multiplexing and safety filtering
sensor_fusion_cont	IMU correction and robot localization
rosbridge_cont	ROS topic access for the Jetson client
foxglove_bridge_cont	Foxglove visualization endpoint
bag_recorder_cont	MCAP experiment recording
db_cont	PostgreSQL/PostGIS storage
healthcheck_cont	Runtime and ROS graph health checks

ai_kit_cont and camera_cont remain source components but are not part of the documented anomaly-detection path.

Runtime configuration

Do not configure this repository directly for deployment. Use the files mounted by robot-stack/docker-compose.yaml, especially:

• config/containers/bridge_rpi_direct.env
• config/containers/nav_cont.env
• config/containers/slam_cont.env
• config/containers/realsense_cont.env
• config/containers/sensor_fusion_cont.env
• config/containers/nav2_params.yaml

The active Jetson topic and inference configuration is stored in jetson-stack/config.

Documentation

• Active hardware
• Current wiring
• Jetson anomaly pipeline
• Navigation container
• Motor bridge
• Database container

Validation

python -m pip install -r tests/requirements-ci.txt
pytest -q tests

Shell syntax and Python compilation are also checked by GitHub Actions.