Moving to micro-ROS with Teensy 4.1 Why Switch? After working with the Arduino Mega for the rover’s low-level control, I wanted something that could handle more direct ROS integration. The Teensy 4.1 brings more processing power and plenty of headroom for future features. With micro-ROS, the microcontroller is no longer just a “dumb” serial device—it becomes a true ROS 2 node, making everything from feedback to firmware updates much more seamless. ...
Developing a Custom ROS 2 Hardware Interface for the Rugged Rover Over the past few weeks, I’ve been working on integrating a custom hardware interface for the rugged wheeled rover platform we’re building. This post highlights the development process of the ROS 2 hardware interface, the decision to upgrade to a Teensy 4.1 microcontroller, and the ongoing challenges with PID tuning. Hardware Interface with ros2_control The robot uses a differential drive setup controlled via a Sabertooth 2x12 motor driver. To interface this with ROS 2, I created a custom package: rugged_rover_hardware_interfaces, following the ros2_control system interface pattern. ...
From hardware setup to working ROS 2 integration, PID tuning, and automated testing — a full update on my rover’s motor control progress.
Some time ago, after a late night experimenting with ROS 2 simulated robots, I decided to bite the bullet and invest in some actual hardware. After searching for appropriate hardware I settled on the Lynxmotion - A4WD3 Rugged Wheeled Rover pictured below The platforms were selected for their rugged design, the all-wheel drive configuration, and their modular chassis — making them ideal for outdoor navigation experiments and hardware prototyping. The A4WD3 features four independently driven wheels, gear motors with encoders, a spacious internal bay for electronics, and aluminum construction tough enough to handle dirt paths, grass, and gravel without issue. After unboxing and assembling the rover, I began planning how to turn it into a fully autonomous mobile robot. I had already been working with ROS 2 in simulation using Gazebo and RViz, and I wanted a real-world platform to test navigation stacks, SLAM, and sensor integration. Here’s the stack I decided on: ...
Well I have set up my Github Pages site where I plan to document my development of three Lynxmotion Rugger Wheeled Rovers. More to come!!