🤖 ROS 2 Robotics & Embedded Control Workspaces

A consolidated, modular collection of ROS 2 packages covering motor telemetry, actuator controllers, action servers, service clients, and autonomous mobile rover simulations (Gazebo & SLAM).

---

🏗️ Repository Architecture

This repository organizes modular ROS 2 nodes into two core domain workspaces:

ros2-workspaces/
├── motor_control_ws/             # Motor actuation, thermal telemetry & custom state interfaces
│   ├── motor_build_up/           # Multi-node launch orchestration
│   ├── motor_ctrl/               # Closed-loop motor controller node
│   ├── motor_interfaces/         # Custom ROS 2 messages (MotorState.msg)
│   ├── motor_state/              # Real-time state publisher & telemetry logger
│   └── motor_temp/               # Temperature sensor publisher & thermal threshold alerts
│
└── robotics_and_rover_ws/        # Mobile rover, action/service interfaces & system controllers
    ├── my_rover/                 # URDF model, SLAM launch, Gazebo world & RViz configs
    ├── battery_manager/          # Service server/client for power & battery health monitoring
    ├── distance_action/          # Goal-oriented action server/client for distance tracking
    ├── led_controller/           # Dynamic parameter-driven LED matrix status indicators
    ├── custom_interfaces/        # Custom Actions (Maps, Navigation) & Services (Battery, Arithmetic)
    └── my_package/               # Core utility clients, servers & asynchronous handlers

---

⚡ Core Modules Overview

1. Motor Control & Telemetry (motor_control_ws)

• motor_interfaces/msg/MotorState.msg: High-frequency telemetry packet tracking motor velocity, load current, winding temperature, and error status flags.
• motor_ctrl: Listens for setpoint targets, executes PID-based speed adjustments, and commands hardware bridge drivers.
• motor_temp: Temperature monitoring node that broadcasts sensor readings and flags overheating states to prevent hardware failure.
• motor_build_up: Unified launch script motor_ctrl.launch.py to bring up the complete powertrain monitoring stack simultaneously.

2. Autonomous Rover & SLAM (robotics_and_rover_ws/my_rover)

• URDF Model: Custom differential-drive robotic rover featuring caster stabilizers and sensor mount points.
• Gazebo Simulation: Simulated physical world (world.sdf) equipped with obstacles and boundary walls.
• Mapping & SLAM: Cartographer / Nav2 SLAM integration (slam.launch.py) utilizing laser scan data to generate occupancy grid maps (tb3_world.pgm / .yaml).

3. Asynchronous Actions & Services

• distance_action: ROS 2 Action mechanism executing long-running movement sequences with continuous real-time progress feedback and cancellation support.
• battery_manager: ROS 2 Service enabling synchronized battery level queries and low-voltage fail-safe responses.
• led_controller: Real-time diagnostic indicator updating hardware LED patterns based on robot operational states.

---

🚀 Getting Started

Prerequisites

• Ubuntu 22.04 LTS (or ROS 2 Docker container)
• ROS 2 Humble / Iron
• colcon build tools and rosdep

sudo apt update
sudo apt install python3-colcon-common-extensions python3-rosdep

Building the Workspaces

Building the Motor Control Workspace:

cd motor_control_ws
colcon build --symlink-install
source install/setup.bash

Building the Rover & Robotics Workspace:

cd robotics_and_rover_ws
colcon build --symlink-install
source install/setup.bash

---

🎮 Execution & Launch Examples

1. Launching Motor Telemetry System

ros2 launch motor_build_up motor_ctrl.launch.py

2. Visualizing Rover in RViz

ros2 launch my_rover display.launch.py

3. Running SLAM Mapping Simulation

ros2 launch my_rover slam.launch.py

4. Calling Battery Service

ros2 run battery_manager battery_client

---

👨‍💻 Author & Maintenance

• Deepak R (@Arkz-Deepak)
• Portfolio & Lab: lab.deepak-arkz.me