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Intermediate build

How to build Linorobot2

2-DoF wheeled rover · Intermediate

Linorobot2 takes a home-built 2WD, 4WD or mecanum robot to autonomous navigation with Nav2, SLAM Toolbox, micro-ROS firmware and a Gazebo sim. Apache-2.0.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
Not published

No cost is published, because it depends on your base

Degrees of freedom
2

Apache-2.0 (software; no hardware files)

What is Linorobot2?

Linorobot2 isn't a single robot. It's a ROS 2 package set that takes your own base from bare hardware to autonomous navigation, with Nav2, SLAM Toolbox and robot_localization already integrated.

It supports 2WD, 4WD and mecanum bases, with a templated URDF covering lidar, depth camera and IMU, plus Gazebo simulation.

The micro-ROS firmware is in linorobot2_hardware. Current branches target ESP32 and Pi Pico boards, since Teensy support ended with Humble. No chassis CAD is published.

Linorobot2 specifications

Bases
2WD, 4WD, mecanum
MCU
ESP32 or Pi Pico family
Host
Raspberry Pi-class SBC or PC
Stack
Nav2, SLAM Toolbox

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Microcontroller (ESP32 or Pico)1
ROS 2 host computer1
Geared encoder motors2–4
Motor driver (configurable type)1
IMU (GY-85, MPU6050, MPU9250…)—Optional
Lidar or depth camera—
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

  • Soldering iron
  • ROS 2 PC
  • PlatformIO

Step-by-step build overview

Electronics & wiring overview

The micro-ROS MCU drives the motors and reads the encoders and IMU, connecting to the host over serial or Wi-Fi.

Battery packpower sourceLaptop / PChigh-level control2D LiDAR + RealSense …sensingRaspberry Pireal-time controllerMotor driverdrivers / busMotors2 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

ROS 2GazeboURDF model

Linorobot2 (Apache-2.0) plus micro-ROS firmware.

Tips from the bench

  • ☕ Wrong encoder counts per revolution ruin odometry, so measure them carefully.

Linorobot2 FAQ

Does it still support Teensy?

Only up to ROS 2 Humble.

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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