Don's Rasprover

ROS2 Jazzy workspace for my Waveshare Rasprover robot.

Packages

• rasprover_msgs: Custom messages and services (UpdateOLED service)
• rasprover_bringup: Core robot nodes (ESP32 bridge with OLED service, teleop)
• rasprover_controller: Encoder odometry and motion control
• rasprover_description: URDF models and STL meshes
• rasprover_utils: Battery monitor (INA219), OLED display client, safety stop
• rasprover_tools: Joystick and keyboard teleoperation
• rasprover_tracking: OpenCV camera work with object tracking and movement

Hardware

• Waveshare Rasprover chassis (4-wheel skid-steer)
• Raspberry Pi 5
• ESP32 motor controller (UART communication)
• LD19 LIDAR
• INA219 battery monitor (I2C)
• OLED display (via ESP32)
• IMU (via ESP32)

Dependencies

Third-party ROS2 Packages

cd ~/rasprover_ws/src
git clone https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2.git

System Dependencies

sudo apt install ros-jazzy-twist-mux python3-smbus espeak

Build

cd ~/rasprover_ws
colcon build
source install/setup.bash

Usage

Launch the robot base system:

ros2 launch rasprover_bringup robot_base.launch.py

Launch with joystick control:

ros2 launch rasprover_controller joy_teleop.launch.py

Architecture

The system uses a service-based architecture for OLED updates:

• ESP32 Bridge (server): Owns serial port, provides /update_oled service
• OLED Display (client): Calls service to update display with status info
• Battery Monitor: Reads INA219 via I2C, provides audio warnings via espeak