this repo contains the steps for setup your environment and necessary source code for the Mini TurtleBot development
A complete scaffold for the MiniTurtleBot:
- Robot (Pico W, single radio): drives motors, reads IMU/IR/encoders and hosts three lightweight network services:
- :8080 — MJPEG Stream Server (SPI/I²C camera in Turtle‑Head)
- :5601 — LiDAR UDP Server (newline‑delimited JSON scans)
- :9000 — Control TCP JSONL Server (one JSON object per line)
- PC Side (ROS 2): modules:
tb_driver(connects to :9000)tb_cam_client(MJPEG only camera client)tb_lidar_client(UDP scan parser →sensor_msgs/LaserScan)tb_localization(EKF stub; plug into Nav2/SLAM as needed)tb_bringup(launch file to start the above)
- Scratch / ATR Bridge: Scratch 3 extension + WebSocket bridge to ROS 2.
Voice Cmd uses the PC microphone → ATR bridge → ROS. Robot audio (ADC→Audio Stream→TB_AUDIO_Client) is ROS‑only and not connected to Scratch.