# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: T-Robot
summary: A DIY omnidirectional mobile robot that supports 2D lidar mapping and autonomous navigation using Micro-ROS and ROS2.
category: rover
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/tianci8/T-Robot
  ref: 51e79ac019a4e13f6d94cf3140f32e7abc87241b
tools:
  - 3D printer
  - soldering iron
  - screwdriver set
  - platformio
  - VSCode
files:
  cad: 3D-model/
  images:
    - images/T-Robot2.jpg
software:
  framework: ros2
specs:
  power_v: 12
build_steps:
  - title: Prepare hardware components
  - title: Assemble the robot base and structure
  - title: Install and configure Micro-ROS firmware on ESP32
  - title: Set up ROS2 environment and packages
  - title: Configure and test communication between ESP32 and ROS2
  - title: Install and calibrate the IMU
  - title: Assemble and mount the laser scanner
  - title: Configure and test mapping and navigation
  - title: Final testing and calibration