# MoboBot Documentation

<figure><img src="/files/kGHZHHHmPIr6p0DBAe5P" alt=""><figcaption></figcaption></figure>

**MoboBot** is a **compact yet powerful** open-source robot designed to help students, makers, and engineers explore **mobile robotics with ROS2**—both in **real-world applications and simulation**.

It is an open-source differential drive **ROS2** educational robot (similar to the popular TurtleBot, Andino, Lino robot, Duckiebot etc.), created by Samuel Obiagba (aka [samuko-things](https://github.com/samuko-things)) founder of [**robocre8**](https://github.com/robocre8), to foster hands-on learning of advanced mobile robotics concepts such as sensor-fusion, control, state-estimation, localization, SLAM, navigation, obstacle avoidance, perception, and AI, leveraging the use of **ROS2** (as well as Arduino) Framework.

This will ensure the longevity and future of open-source robotics in Nigeria and Africa, as well as the world.

### Key Features

✅ Powered by **Raspberry Pi 4B** for onboard processing\
✅ **RPLidar C1** for **SLAM**, **AMCL** and **Navigation** (pre-configured with Nav2)\
✅ It uses the [**EPMC module**](/robocre8/documentations/epmc-documentation.md) and [**EIMU Module**](/robocre8/documentations/eimu-documentation.md) for its **base control** and **sensor fusion (EKF).**\
✅ **USB Camera** for **OpenCV** + **ROS2**  **perception** and **camera streaming**\
✅ **Gazebo Ignition simulation environment** for algorithm test before implementation.\
✅ Easy to work with and build.\
✅ supports multiple drive bases types:

* 2 Wheel Diff Drive chassis
* 4 Wheel Diff Drive chassis
* Mecanum Drive (Coming Soon)

### Getting Started With MoboBot Simulation

<figure><img src="/files/XAv1On0vHD6egUB2q3jR" alt=""><figcaption></figcaption></figure>

**`mobo_bot_sim`** is the **MoboBot** ROS2 simulation with Gazebo Ignition.

{% hint style="info" %}
To Simulate the **MoboBot** on you **dev-PC** follow this [mobo\_bot\_sim tutorial](https://github.com/robocre8/mobo_bot)
{% endhint %}

### Working With The Actual MoboBot Robot

<figure><img src="/files/cUvvKUT8njweyWvBM0s2" alt=""><figcaption></figcaption></figure>

**`mobo_bot_base`** is the base control package for the actual physical **MoboBot** robot. it launches all the controls, sensor-fusion, lidar and camera, to get started with working with the robot.

the **mobo\_bot\_base** package is meant to run on the Raspberry Pi 4 on the robot.

**`mobo_bot_rviz`** is meant to run on your **Dev PC** which will be connected to the robot via **ssh**. For visualizing the robot state, sensor data, navigation, etc.

{% hint style="info" %}
to get started with the actual physical **MoboBot** robot (which uses the Raspberry Pi 4), follow this [mobo\_bot\_base tutorial](https://github.com/robocre8/mobo_bot)
{% endhint %}

### MoboBot Hardware Component Summary

<figure><img src="/files/wTQiBDSqmOegGuwaG083" alt=""><figcaption></figcaption></figure>

### MoboBot Circuit Connection Summary

<figure><img src="/files/M5RTm7ZO9qToNsUEPGln" alt=""><figcaption></figcaption></figure>


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