LGDXRobot2

Description

LGDXRobot2 is a mecanum wheel mobile robot designed to achieve decent performance with low-cost hardware. It equipped with a LiDAR, a 9-DOF IMU, and wheel odometry for navigation tasks. It also offers full integration with the ROS 2 ecosystem, including Nav2 and Gazebo, with the support of the LGDXRobot Cloud robot management system.

Details

Open-Source and Reproducible Hardware Design

LGDXRobot2 provides open-source designs for the chassis body, controller board circuit, and software source code. It includes both the design files and manufacturing files which is ready for reproduction.

GUI Hardware Testing Tool

ChassisTuner is a GUI tool specifically designed for LGDXRobot2. It includes hardware testing, PID tuning, and IMU calibration with real-time visualisation.

ROS 2 Support

LGDXRobot2 fully supports ROS 2. It is not just a ROS node that connects to the hardware. It also includes a URDF model for RViz visualisation, remote control via the joy node, navigation with Nav2, and simulation in Webots.

The packages include launch files to run Nav2 examples and support switching between pre-tuned parameters to test different configurations.

Easy Installation

The LGDXRobot2 ROS 2 packages are easy to install via APT on Ubuntu. It also has ready-to-use Docker images with a remote web interface. These installation options support both AMD64 and ARM64 computers. With CI/CD pipeline support, the packages are always kept up to date.

Demonstration Videos

Link to Video 1

Link to Video 2

Repositories

LGDXRobot2 is distributed across several Git repositories. The project is released under the MIT Licence, except for ChassisTuner, which is released under GPLv3.