Small robot based on ESP32 + ROS + ZUMO 32u4 base
Components:
- ZUMO32U4 Base (I2C Slave, Bat ADC, Motor Encoder, PWM for Lidar Stepper, l3gd20h, lsm303d, Line Sonsor, ...)
- ESP32 with PSRAM
- STM vl53l1x TOF sensor
- Rotating Lidar with PCF8475+ULN2003 Stepper motor
- BNO055 Orientation Sensor
- SSD1306 I2C Display
Target Software:
- ROS Serial ported to ESP32
Host Software:
- ROS Bringup Files
- Mapping, Laser Scan, Navigation, ...
Goals:
- Small Autonomous Robot controlled by ROS from external PC
- Small Autonomous Robot controlled by ROS running on ESP32