How to build Andino
2-DoF wheeled rover · Intermediate
Andino is an open ROS 2 education robot from Ekumen: a Raspberry Pi 4, Arduino Nano, DG01D-E encoder motors, a BNO055 IMU and printed chassis, with Nav2 and SLAM.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
No total is published
BSD-3-Clause
What is Andino?
Ekumen designed Andino as an inexpensive way to learn ROS 2 on real hardware. It's a two-wheel differential-drive robot with a Raspberry Pi 4 running ROS 2 and an Arduino Nano handling the motors and encoders.
The repo includes printable chassis and camera-mount STLs, a URDF, the Arduino firmware, a ros2_control hardware interface, and ready-made SLAM and Nav2 setups.
Everything is BSD-3-Clause. The hardware README links the components but doesn't give a total cost.
Andino specifications
- Drive
- Differential, 2× DG01D-E with encoders
- Compute
- Raspberry Pi 4 (4 GB)
- MCU
- Arduino Nano
- IMU
- BNO055
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Raspberry Pi 4 B | 1 | |
| DG01D-E encoder gearmotor | 2 | |
| TT-style wheels | 2 | |
| Arduino Nano | 1 | |
| BNO055 IMU | 1 | |
| Printed chassis and mounts | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.
Tools you'll need
- FDM printer
- Soldering iron
- ROS 2 PC
Step-by-step build overview
Electronics & wiring overview
The Nano reads the encoders and drives the motors, and talks to the Pi over USB serial. The IMU is on I²C.
Software
ROS 2 packages with ros2_control, SLAM and Nav2 (BSD-3-Clause).
Tips from the bench
- ☕ Try the simulated Andino first so you know what working Nav2 looks like.
Andino FAQ
What ROS version does Andino use?
ROS 2.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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