Software Overview¶
The Mobile Hoverboard Robot Base runs ROS 2 Humble on Ubuntu 22.04 across two Raspberry Pis.
Two-RPi Architecture¶
| RPi | Location | Role |
|---|---|---|
| Base RPi | Inside the robot | Runs ODrive motor controller (mobile_robot_control) |
| Controller RPi | External, carried by operator | Runs joystick node and key mapping (joy_teleop_keymapping) |
The two RPis communicate over ROS 2 on a shared WiFi network. The operator uses the 8BitDo controller → controller RPi → /cmd_vel topic → base RPi → ODrive → motors.
Software Stack¶
| Component | Package |
|---|---|
| OS | Ubuntu 22.04 LTS |
| Middleware | ROS 2 Humble |
| Joystick input | ros-humble-joy |
| Button mapping | joy_teleop_keymapping |
| Motor control | mobile_robot_control |
| Motor driver | ODrive v3.6 via odrivetool / USB |
Getting Started¶
Follow these guides in order:
- Installation — Ubuntu + ROS 2 + workspace setup
- Calibration — ODrive motor calibration
- Running the Robot — Full startup sequence