// the find
linorobot/linorobot2
Autonomous mobile robots (2WD, 4WD, Mecanum Drive)
linorobot2 is a ROS2 package that wires together Nav2, SLAM Toolbox, and robot_localization into a working autonomous navigation stack for DIY ground robots. It supports 2WD, 4WD, and mecanum drive configurations on both physical hardware and Gazebo simulation. The target audience is hobbyists and students who want a real autonomous robot without spending weeks configuring ROS2 from scratch.
The sim/hardware config parity is genuinely well done — same YAML files and launch commands for both, with just a `sim:=true` flag. The `image_to_gazebo` tool that converts a floor plan PNG into a Gazebo world with a calibrated STL mesh is a legitimately useful piece of tooling most robotics projects don't ship. Sensor driver integration is broad and handled automatically by the install script rather than left as an exercise for the reader. The micro-ROS firmware pairing via linorobot2_hardware means the full stack from microcontroller to Nav2 is documented and tested together, not just assumed to work.
The repo is pinned to Jazzy only; if your hardware runs Humble or Iron you're on your own and older branches have gone stale. Nav2 tuning parameters are shipped as reasonable defaults but there's no guidance on what to actually change when your robot doesn't navigate well — the gap between 'it runs' and 'it works reliably' is left to you. The URDF templating is one properties file per robot type, which is fine until you need a non-standard sensor placement, at which point you're editing xacro files with minimal documentation on the coordinate conventions used. No test suite — CI only checks that colcon build succeeds, so regressions in launch file behavior or config correctness go undetected.