robotics research
LoCoBot ROS2 migration
A distributed ROS1 to ROS2 migration running on a Raspberry Pi 5 with vision, LiDAR, cameras, and motor control.
active research
The migration includes DDS networking, YOLOv11 perception, RealSense input, LiDAR, sensor drivers, and the motor stack.
Most failures initially look like a software bug. They often turn out to be startup order, network discovery, power, timing, or one stale process on another machine.
How it fits together
- 01Sensor nodes
- 02DDS discovery
- 03perception pipeline
- 04navigation state
- 05motor command bridge
What I learned
- Distributed robotics needs explicit startup and health checks.
- A component working alone says very little about the full robot.