An ongoing scratch-built robot project: custom CAD, 3D printed parts, embedded control, and ROS2 integration.
Work in Progress
This repo documents the build as it happens. Some systems are stable, some are experimental, and a few are still held together by hope and zip ties.
I have been building my own robot from the ground up:
- Designed parts in CAD
- Printed and assembled custom mechanical components
- Wired and integrated Raspberry Pi + Arduino control
- Connected sensors and started the software stack in ROS2
The goal is a capable, autonomous mobile robot that can map and navigate real environments.
Hardware and basic integration are finally behaving:
- ✅ Pi is talking to Arduino
- ✅ ROS2 sees the LiDAR
- ✅ Wheel encoders are publishing usable data
We are very close to attempting SLAM.
- Bring up first SLAM pipeline
- Validate odometry + LiDAR consistency
- Record and review mapping runs
- Wheel upgrade (current setup works, but needs better traction and reliability)
- Voice recognition improvements (usable, but still rough)
arduino/- Microcontroller code and hardware interface logicros2/- ROS2 packages, launch files, and robot software stackcad/- CAD models and printable part designsassets/- Demo images and project visuals
This is not a finished platform yet, but it is moving in the right direction.