ROS2 Progress

A project log for Roomba RPi

iRobot Roomba 690 enhanced with a Raspberry Pi Zero 2W and IMU.

Josh GadekenJosh Gadeken 03/07/2022 at 13:120 Comments

I have been making some decent progress learning ROS2 and setting it up on the Roomba. As part of learning ROS2, I wrote a simple node for the BNO055 IMU based on the Adafruit CircuitPython BNO055 driver. Additionally, I detailed how to cross-compile ROS2 packages for the RPi ZW. The Roomba RPi ROS2 packages and documentation is in roomba-rpi/software/roomba_ros2/.