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Linorobot2 Cockpit

From a bare microcontroller to SLAM, Nav2 and a saved map — in one click, from a browser.

Linorobot2 Cockpit is a complete robotics software suite combining a web supervisor, prebuilt micro-ROS firmware, and a full ROS 2 navigation stack for linorobot2-style mobile robots. It runs on your robot computer (Raspberry Pi 5, Jetson, or any Linux PC) and is controlled from any browser on your local network.

flowchart LR
    Plug["Plug board in<br/>(or none for Sim MCU)"]
    Up["docker compose up -d<br/>open ?token= link"]
    OneClick["Click Start 1-Click<br/>(auto-detects board)"]
    Result["Live ROS 2 topics<br/>→ SLAM → Nav2 → saved map"]
    Plug ==> Up ==> OneClick ==> Result
    classDef s fill:#0b3b8c,stroke:#7db8ff,stroke-width:3px,color:#ffffff,font-weight:bold;
    class Plug,Up,OneClick,Result s;

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Why Linorobot2 Cockpit?

• One click from a bare board to a saved map. The cockpit detects the MCU, flashes prebuilt micro-ROS firmware, writes the robot's settings into the board's 4 KB env partition, starts micro_ros_agent, checks every topic's rate, brings up SLAM Toolbox and Nav2, maps the room, runs an eight-manoeuvre drive test and saves the map, all from a browser. See The One-Click Pipeline.
• Runs before you wire anything. A bare $5 board, or no board at all (the Sim MCU), runs the real firmware with simulated motors, IMU and LiDAR, including DC-motor physics and battery sag, so the whole navigation stack is qualified before you solder. See Simulation Mode & the Bare Module.
• No compiler needed. Releases ship flashable firmware for every supported board and Docker images for ROS 2 Jazzy and Lyrical, amd64 and arm64.
• Wi-Fi robots leave the cable. An ESP32 or ESP32-S3 on Wi-Fi is flashed over USB once; after that the cockpit finds it by name and writes its firmware and settings over the air, and its test tools report back over Wi-Fi. See A Wi-Fi robot leaves the cable.
• One config file per robot. Pins, kinematics, sensors and Nav2 limits live in one YAML file in ~/linorobot2-config/, kept in your own git repository.
• Hardware-safe. The cockpit checks the board's identity before flashing and refuses mismatched silicon; the diagnostic tools refuse to run against simulated hardware.
• No RViz required. Live scan, map, robot pose and navigation goals in the browser.

Start here

I want to…	Read
Install it	Installation & Docker
Get from a fresh install to a saved map, step by step	Web UI Guide
Use a commercial board or kit	Reference Designs
Build my own robot, step by step	Building a Real Robot
Test my sensors and motors	Hardware Tests (tab 6) → Enter tool; how it works: The tool
Check my robot's speeds against its LiDAR	Check the speeds against the LiDAR
Wire my own robot	Pin Matrix & Wiring
Fix an error	Troubleshooting (search for the exact message)

Every page is also in the sidebar. New to ROS 2 robots? The words the pages use are explained below.

Words you'll see

Word	What it is
micro-ROS	ROS 2 for microcontrollers: the firmware on the board publishes and subscribes to ROS 2 topics
agent	micro_ros_agent, the program on the robot computer that carries the board's micro-ROS messages onto the ROS 2 network (over USB serial or Wi-Fi)
env partition	a 4 KB block of the board's flash holding the robot's settings (pins, kinematics, Wi-Fi), written without reflashing the firmware: The env partition
SLAM	building a map while finding the robot on it (SLAM Toolbox)
Nav2	the ROS 2 navigation stack: plans a path to a goal and drives the robot along it
AMCL	locating the robot on a map saved earlier, instead of SLAM: Navigating on a saved map
EKF	the filter that fuses wheel odometry and the IMU into the robot's pose (/odom)
TF	ROS 2's tree of coordinate frames (map → odom → base_link → laser) that says where each part is
the tool	a command shell inside the firmware for testing sensors and motors: The tool
test_acc	the tool's drivetrain test: every wheel at up to full power, on the floor, to measure speed and acceleration: Find the real limits
Sim MCU	the firmware running on the robot computer itself, with nothing plugged in: The Sim MCU
bring-up	the checked, step-by-step test of a real robot's parts before it may drive itself: The bring-up checklist

Supported microcontrollers

Microcontroller	Architecture	Release image	micro-ROS link	Reference designs
Raspberry Pi Pico 2 / Pico 2 W	RP2350 (Cortex-M33)	pico2-<distro>	USB serial; a W also on Wi-Fi (udp4)	Pico 2 Mecanum, SparkFun XRP
Raspberry Pi Pico / Pico W	RP2040 (Cortex-M0+)	pico-<distro>	USB serial; a W also on Wi-Fi (udp4)	Pimoroni Motor 2040, Cytron Maker Pi RP2040
ESP32	ESP32 (Xtensa LX6)	esp32-<distro>	USB serial (bridge chip) or Wi-Fi	Waveshare General Driver, Maker's Pet Mini, NULLLAB Maker-ESP32 PRO
ESP32-S3	ESP32-S3 (Xtensa LX7)	esp32s3-<distro>	Native USB (default) or a UART bridge, or Wi-Fi	Yahboom YB-EET01
Arduino UNO Q	STM32U585 (Cortex-M33), on Zephyr; the board's QRB2210 is the robot computer	unoq-jazzy / unoq-lyrical (Zephyr), flashed over SWD from the board	The board's internal UART (/dev/ttyHS1), 4 Mbaud	Arduino UNO Q
Sim MCU	none: the firmware runs on the robot computer	built into the image	micro-ROS over UDP	—

<distro> is jazzy or lyrical. Any of these boards also runs as a bare module with nothing wired. Per-MCU pin rules are in Pin Matrix & Wiring.