ROVI is the short name of "Room View Bot", a ROS robot platform for indoor virtual presence in homes and rooms, mostly flat ground. ROVI is based on the Yahboom X3+ chassis and control board equipped with mecanum wheels, a lidar depth camera, and a stereo camera. Videos, gallery, and more details about the robot hardware are available on this wiki page https://homesmartmesh.github.io/robotics/rovi/
This repo provides a ROS2 Jazzy software stack that covers multiple run modes including simulation.
This project is still in development; the current stage is functional navigation with LiDAR on the real robot and in simulation.
Related projects:
- webapp : https://github.com/MicroWebStacks/tanstack-robot-space
- LCD monitor firmware : https://github.com/ESP32Home/robot_serial_display
| Doc | What it covers |
|---|---|
| install.md | Installation and environment setup (ROS Jazzy, uv, dependencies, USB, and WSL notes). |
| diagrams.md | Architecture and dataflow diagrams for interfaces, stacks, launch wiring, and dependencies. |
| reference.md | Full command list and deeper reference tables. |
| nodes.md | Quick index of packages/nodes plus useful debug commands. |
| depth_camera_astra_stereo_s_u3.md | Astra Stereo S U3 depth camera (depth via OpenNI2 + RGB via UVC): run, topics/TF, install notes, calibration pointers. |
| stereo_elp.md | ELP stereo camera notes and V4L2 formats. |
| runtime.md | Runtime warnings/errors description. |
| troubleshooting.md | Common “if you see X, do Y” fixes (build + runtime). |
Before first time usage, start with the install guide.
Main Operation commands are listed below; for the full list see commands.
| Command | Description |
|---|---|
sim |
PC Simulation: sim (default mapping) or `sim teleop |
view |
PC view: view (default nav) or `view teleop |
teleop |
Robot (Pi): runs rovi_bringup/rovi.launch.py with robot_mode:=real stack:=teleop (headless; no RViz). |
camera |
Robot (Pi): runs rovi_bringup/rovi.launch.py with robot_mode:=real stack:=camera (teleop + depth + RGB; headless; no RViz). |
nav |
Robot (Pi): runs rovi_bringup/rovi.launch.py with robot_mode:=real stack:=nav (headless; no RViz). |