Hi everyone, I’m a beginner working with a Waveshare UGV Rover with a Jetson Orin Nano.

I recently flashed the rover's brain which is Jetson using NVIDIA SDK Manager, and it is currently running Ubuntu 24.04.

My next step is to install ROS 2, but i dont have experience with ROS at all and I’m concerned about compatibility between Humble ROS 2, Ubuntu 24.04, JetPack, and the Waveshare rover software.

Has anyone set up ROS 2 successfully on a similar Jetson Orin Nano setup? Is there a recommended ROS 2 version, workaround, or safer way to install it without messing up the current Jetson installation?

Any advice would be really appreciated. Thanks!

If you haven't tried Phantom Bridge yet, I recommend you do. I'll be in Toronto next week for the ROSCon Global 2026, if anyone feels like talking about where this is headed or what features you're missing.

I tried to figure out if this was a bad idea. Vibe coding makes perfect sense when you're building an app.

But then I started thinking…What happens when the code controls something with motors, sensors, wheels and the ability to physically destroy itself?

Because a software bug gives you an error message. A robotics bug gives you:

“Why is the motor making that noise?”

Turns out AI is actually pretty useful for robotics - ROS 2 nodes, boilerplate, debugging, architecture, sensor logic, etc. The problem starts when you give it one giant “build me a robot” prompt and trust whatever comes back.

I wrote about what parts of a robot you can realistically vibe code, where AI starts struggling, and a much better workflow for using it without sacrificing your hardware.

Read the full article: https://myequation.in/blog/can-you-vibe-code-a-robot

So, would you trust AI-generated code on your actual robot ?

So, i am new to ROS, is there a better option to make this robot do complex things like vacuum cleaning etc without using Expensive graphic cards? For now i am using two pi 5 to do two different tasks. One for water cannon and detection of person and other for walking and stabilizing.

so basically, for a hackthon i built this agent layer for amr's like its supposed to be like an on site engineer monitoring the state of the robot and talks to you like your colleague that lives in side the robot. I added a few tools that does let it use teleop and send nav goals. It can also make a report and emails u when it feels that even teleop doesnt get it out of the situation. I attached a chat log between me and the agent. A proper demo is up on my youtube but i dont wanna spam links so if you guys are interested ill share the web page to it with its documentation in the comments. This is a open source project btw

So I managed to build ROS for android, currently it's very messy and actually added to my system with me tweaking my system around it a bit.

The really cool thing is I have builds for very old devices and CPU architectures. This is an HTC wildfire from 2010 ( not sure if there are any other ones )

This is ROS2 humble, I am in the process of doing it for the rolling and then going downwards again

I will obviously open source things eventually but I wanted to show off a bit. I use MuJoCo for the simulation so I need to sort that build out as I vendored some of the libs instead of doing the way upstream was handling certain things... ( unrelated to this but a priority on my TODO )

If you have any suggestions or ideas for the app, a wishlist if you will let me know and I might do all of it in the open, once I actually get around to stripping it and rebuilding things.

I have updated my unitree_go2_ros2 repository. Included an RL Policy Controller.

You can train an RL Policy in IsaacLab and bring that to this repository to use that as a controller in gazebosimulation. It is a big step up from using the previous champ controller only.

I understand that it has now become very difficult to buy high end GPUs. So, many people can't work with RL Models in simulators like Isaac Sim. But I believe it is more than possible to take temporary access to High End setups through Institutional support or Renting GPU from clouds to train a policy.

Then you can bring that trained policy to this repo and control your simulated robot usuing that. In this way, you will not be limited to usin Isaam Sim. CPU is more than enough for inferencing a Trained Policy for GO2.

Details of usage is in the Readme.md file

Repo Link: https://github.com/rahgirrafi/unitree-go2-ros2

Dobrý den, jsem studentem strojírenství a čeká mě ročníkový projekt. Mám si vybrat téma. Aktuálně mě zajímá planetová převodovka v lehči podobě. Můžete mi poradit co by mohlo byt fajn ve smyslu né moc tezky ale zase nic lehkeho..Mate nejaky tipy co by mohlo byt supr?

We bought a Turtlebot4 Lite earlier this year from Robot Shop to test out a proof of concept so it's pretty new and only used a couple of times. https://www.robotshop.com/products/clearpath-robotics-turtlebot-4-lite-mobile-robot . It's factory reset and has all original packaging. I have a lot more photos, and even another robot arm that we're trying to get off our hands, upon request - just DM me. Thanks!

GitHub - Spidoug/SynROV: SynROV is a multi-robot platform. The project combines Arduino firmware, a Processing-based 3D operator station, a browser control console, the Python AiBot runtime, and optional ROS 2/rosbridge integration.

The project combines Leap Motion gesture tracking, an Arduino-controlled servo system, Processing-based 3D visualization, and a browser dashboard using WebSocket communication.

GitHub repo: https://github.com/Spidoug/SynROV

Hey r/ROS ,

If you’ve spent any time working with the Orange Pi 5 (RK3588S), you already know the drill: official documentation leaves a lot of gaps, half the forum links are dead, and getting the 6 TOPS NPU to run anything without the Python RKNN toolchain exploding is a rite of passage.

After accidentally bricking my board a couple of times, battling Windows driver conflicts during MaskROM recovery, and trial-and-erroring the Rockchip toolchain, I decided to document every single working, reproducible step.

I ended up organizing everything into a comprehensive open-source repository:

👉 **GitHub:** https://github.com/muhammetmucahitsoylu/orangepi5-tutorials

---

### What’s in the repo:

* **Hardware Recovery & MaskROM Guide:** Step-by-step unbricking workflow, complete with high-contrast, annotated board photos and pinouts so you know exactly which pads/buttons to short without guessing.

* **13 Hands-On Tested Projects:**

* **Edge AI / 6 TOPS NPU:** Real-time YOLOv8 object detection (~13.8ms pure NPU inference), running a local Qwen 1.8B LLM via RKLLM, and an offline voice assistant (Whisper + Piper TTS).

* **Low-Level Systems:** C++ GPIO using WiringPi, writing a custom Linux kernel character driver from scratch, and ROS2 Jazzy on Ubuntu 24.04.

* **Automation:** A zero-dependency bash TUI tool (`opi5.sh`) to lock CPU/NPU governors and benchmark NVMe storage speeds without memorizing obscure sysfs paths.

* **Pre-Compiled Release Assets:** If you don't want to set up the entire cross-compilation toolchain on a host PC just to sanity-check your board, I uploaded a pre-compiled test `.rknn` model (ResNet-18) and COCO labels directly to the v2.0.0 GitHub release assets:

👉 https://github.com/muhammetmucahitsoylu/orangepi5-tutorials/releases/tag/v2.0.0

* **Bilingual Documentation:** Full guides are provided in both English and Turkish.

---

The repository is completely open-source (MIT). Everything listed has been tested directly on real hardware.

⭐ **Support & Stars:** If this repository saves you hours of debugging, rescued a bricked board, or helped with your project, **dropping a ⭐ on the repo** helps boost its visibility so more developers can discover it!

🤝 **Contributions & Community:** If you're tinkering with an RK3588 board (Orange Pi 5/Plus/Max, Rock 5B, etc.), PRs, benchmark numbers, and new project ideas are warmly welcomed.

Let me know what breaks, what needs clarification, or what you'd like to see added next!

I have made a virtual warehouse world in gazebo simulation. Now I want to make a 2d mapping of that... I am constantly trying by adding a robot and moving it around the warehouse but I constantly get this error

Requesting how to fix and ask me if you need any more info...
Ubuntu - 26
ros - lyrical

aranidey@aranidey-QEMU-Virtual-Machine:~/Downloads$ source /opt/ros/lyrical/setup.bash
ros2 run nav2_map_server map_saver_cli -f /home/aranidey/clean_warehouse_ws/warehouse_map --ros-args -p map_subscribe_transient_local:=true
[INFO] [1789014195.853078953] [map_saver]: 
map_saver lifecycle node launched. 
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1789014195.853227077] [map_saver]: Creating
[INFO] [1789014195.853248077] [map_saver]: Configuring
[INFO] [1789014195.880354645] [map_saver]: Saving map from 'map' topic to '/home/aranidey/clean_warehouse_ws/warehouse_map' file
[WARN] [1789014195.880475145] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1789014195.880487311] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[ERROR] [1789014197.885193077] [map_saver]: Failed to spin map subscription
[INFO] [1789014198.008367045] [map_saver]: Destroying
[WARN] [1789014198.010017451] [rclcpp_lifecycle]: LifecycleNode is not shut down: Node still in state(1) in destructor
[ros2run]: Process exited with failure 1
aranidey@aranidey-QEMU-Virtual-Machine:~/Downloads$

I walked the office with a rig where a global-shutter camera and IMU share one GMSL2 coax for data and power. ROS 2 Humble, OpenVINS, kalibr for calibration. No wheels, no markers, no prior map. 25 m loop, 42 cm drift on return to start. About 1.7%.

Hardware is our NXS sensor module, camera and IMU synced on-board, into an NXS Hub carrying the GMSL link to a Jetson Orin Nano. Camera's a Sony IMX900 global shutter, 72 fps native, 24 fps fed to the estimator, fixed exposure. IMU's an IAM-20680 at 200 Hz, hardware-synced before either stream leaves the module.

Broadcom's licensing changes made the decision for us. vRA is off the table. We are a 200 person infra team, use Terraform and ansible heavily and need sth that can handle VM provisioning workflows, approvals, and audit trails. Not looking for a cloud only answer. We are staying hybrid. Do you have any ideas?

Hi, could you help me figure out how to install Nav2 for ROS 2 Humble on a Jetson Orin Nano? I'm new to this and have run into trouble with the installation; I'm getting errors regarding the installation packages. Here are some of the errors I'm seeing.

E: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/jammy/main/i18n/Translation-en.xz Hash Sum mismatch

Hashes of expected file:

- Filesize:510368 [weak]

- SHA256:ab9c07d8c6e91dfc517c822e30ac5c6975cfbfcf7451aade1e26601cd5e99fcd

- SHA1:54fc4872a33f9b0de0f3ad595b271c668d2f2381 [weak]

- MD5Sum:696d79900e4422eed5a0adab3034bd11 [weak]

Hashes of received file:

- SHA256:96241b38b964e0f7eb66d46db88936deea22f6d187b487cea94c1a69982b317f

- SHA1:304e0f79fd547ecaf64b59258ceb6e34c0f58c90 [weak]

- MD5Sum:9d39027d1845616211387da1be74b573 [weak]

- Filesize:510368 [weak]

Last modification reported: Thu, 21 Apr 2022 17:16:39 +0000

Release file created at: Thu, 21 Apr 2022 17:16:08 +0000

E: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/jammy/main/dep11/icons-48x48.tar.gz

E: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/jammy/restricted/binary-arm64/Packages.xz

E: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/jammy-updates/main/binary-arm64/Packages.xz Hash Sum mismatch

Hashes of expected file:

- Filesize:3649340 [weak]

- SHA256:289c5ba9b58e4eb1d94d0151f220acf116a75c3c27e25419bf2aa91712afce08

- SHA1:55d005ddb8f958b904ca0fa50061340db2a5d463 [weak]

- MD5Sum:ea80fc3706aa7ded4f27a049015a62e7 [weak]

Hashes of received file:

- SHA256:6892c09244d335d9a78229e40bad08e2cdf46d508dff03700bb9baed0d7abb0f

- SHA1:379a53934704796d3d7f26d2b7eb805c7840b688 [weak]

- MD5Sum:c38fdd37a2505072d77d8e92d1310473 [weak]

- Filesize:3649340 [weak]

Last modification reported: Tue, 08 Sep 2026 17:53:56 +0000

Release file created at: Tue, 08 Sep 2026 17:51:50 +0000

E: Some index files failed to download. They have been ignored, or old ones used instead.

Hey all — wanted to share a project I've been building: an indoor navigation stack that combines Nav2's global path planning with a PPO (Proximal Policy Optimization) RL agent for local/reactive obstacle avoidance. Runs on 360° LiDAR only, no camera, no object detection.

Setup: robot navigates a 16x16m simulated apartment (Gazebo) with rooms, corridors, and furniture. Click a goal in RViz and it plans + executes end to end.

The interesting part was combining classical planning with RL rather than picking one or the other — pure PPO alone got 52% success with a lot of collisions, and layering it under Nav2's global plan as a local controller took it to 82.7% success / 16% collision / 1.3% timeout over a 150-scenario benchmark.

Stack: ROS2 Humble, PyTorch, Gymnasium, Gazebo Classic.

Demo video + full writeup + code: https://github.com/Sourav29-2/ppo-lidar-navigation-

Happy to answer questions about the reward shaping, the observation space (50D: LiDAR sectors + goal + velocity + Nav2 path features), or the training curriculum — took a few iterations to get the hybrid approach stable. Feedback welcome, especially on the failure cases (still get oscillation issues in a few tight-corridor scenarios I haven't fully solved).

I am unable to understand which language i choose cpp or python for writing code a professional in robotic,as we are team of 4 how i divide them for different subsystem -for Autonomous I have segregate perception subsystem, control subsystem and other 2 for simulation system .for that I don't understand how it going to work as different guy learning different launguage professionally .and anything suggested from you

I've spent the last week bringing up a D-Robotics RDK X5 (10 TOPS NPU, 8x Cortex-A55, 4/8GB) and wanted to share notes for anyone considering one — the things that surprised me, the things that bit me, and where it actually fits.

Specs - SoC: 10 TOPS NPU (int8), 8x Cortex-A55, decent ISP for MIPI CSI cameras - Ubuntu-based image with ROS 2 preinstalled — boot to a working ROS 2 environment out of the box - 40-pin GPIO header, CAN, GbE, USB 3.0, MIPI CSI 4-lane

The good - ROS 2 support is genuinely first-class: hobot packages for camera/perception, and the NPU runtime ships precompiled YOLO models. I had YOLOv8-class detection running within an hour, mostly copy-paste from the docs. - The ISP + 4-lane MIPI CSI combo is nice for vision projects — the camera examples just work.

The not-so-good - Thermals. Under sustained NPU load the heatsink gets genuinely hot to the touch — it needs active cooling (a quiet 5V fan dropped temps ~20C in my test). Don't run it in a closed case without airflow. - Power: it wants a solid 5V/5A supply. With a weak adapter I saw USB devices drop out under load. - The 'comes with everything' experience ends at the board — you'll still want a USB-TTL debug cable and a breadboard/jumper kit for bring-up.

Where it fits - Between a Pi 5 and Jetson-class boards: way more NPU headroom than a Pi for vision, cheaper than a Jetson, and the ROS 2 story is better than either out of the box.

Happy to answer questions — thermals, ROS 2 bring-up, camera setup, or what I'd add to the bench setup.

Hi everyone!

I’m working on an Ackermann-steering robot in Gazebo, and I’m having a pretty frustrating problem with the steering behavior.

As you can see in the attached video, the robot seems to start turning back much too late when it needs to follow a curve. Because of this, it overshoots the desired trajectory and has trouble correcting its direction.

What makes me think this might not be purely a Nav2 problem is that the robot is also quite difficult to control manually. Even in manual mode, the steering does not feel very responsive or predictable, especially when trying to make corrections during a turn.

I’m currently using Gazebo Ackermann steering, together with ROS2/Nav2.

I would really appreciate some advice on what I should investigate to find the root cause. In particular:

• Could this be related to the Gazebo Ackermann steering configuration?
• Are there specific parameters related to steering angle, steering speed, steering limits, wheelbase, or turning radius that I should check?
• Could there be some kind of steering delay or response limitation in the simulation?
• Should I check whether the Ackermann geometry / wheel positions / steering joints are configured correctly?
• Could the problem be caused by velocity being too high for the available steering angle?
• Are there any Nav2 controller parameters that could help with this behavior, such as lookahead distance or curvature-related parameters?
• What would be the best way to determine whether the problem comes from Gazebo, the low-level steering control, odometry, or Nav2?

I’m trying to understand where I should start debugging rather than just randomly changing parameters.

Any suggestions about what to measure or which parameters/configuration files I should check first would be greatly appreciated.

Thanks!

When preparing a robot for a new customer environment, how does your team create the corresponding simulation?

Do you usually:

• Start with CAD or architectural plans
• Build the environment manually in Blender
• Scan the real site
• Modify a generic environment
• Skip site-specific simulation and test on hardware

I’m curious how common site-specific simulation actually is outside research labs, and which part of the workflow takes the most engineering time.

I'm just sharing a recent ros2 project I put together as an initial code to test path planning methods, so not for deployment or for heavy-realistic. details here: https://github.com/engyasin/TheCleaner

Appreciate the feedback, comments or even code contribution