Andino is a fully open-source diff drive robot designed for educational purposes and low-cost applications. It is fully integrated with ROS 2 and it is a great base platform to improve skills over the robotics field. With its open-source design, anyone can modify and customize the robot to suit their specific needs.

Note: For videos go to Media section.

:books: Package Summary

• :rocket: andino_bringup: Contains mainly launch files in order to launch all related driver and nodes to be used in the real robot.
• :robot: andino_hardware: Contains information about the Andino assembly and hardware parts.
• :ledger: andino_description: Contains the URDF description of the robot.
• :hammer_and_pick: andino_firmware: Contains the code be run in the microcontroller for interfacing low level hardware with the SBC.
• :gear: andino_base: ROS Control hardware interface is implemented.
• :control_knobs: andino_control: It launches the controller_manager along with the ros2 controllers: diff_drive_controller and the joint_state_broadcaster.
• :computer: andino_gz_classic: Gazebo Classic simulation of the andino robot.
• :world_map: andino_slam: Provides support for SLAM with your andino robot.
• :compass: andino_navigation: Navigation stack based on nav2.
• :exclamation: andino_apps: Integrated applications with the andino robot.

:paperclips: Related projects

Other projects built upon Andino! :rocket:

• :rocket: andino_ansible_config: (Thanks @garyservin !): Ansible configuration to easily setup an Andino robot.
• :computer: andino_gz: Gazebo(non-classic)-based simulation of the andino robot.
• :lady_beetle: andino_webots: Webots-based simulation of the Andino robot fully integrated with ROS 2.
• :joystick: andino_o3de: O3DE-based simulation of the Andino robot.
• :green_circle: andino_isaac: Isaac Sim-based simulation of the Andino robot.
• :m: andino_mujoco: MuJoCo-based simulation of the Andino robot.
• :robot: andino_rmf: OpenRMF integration of Andino simulation.
• :test_tube: andino_integration_tests: Extension to the Andino robot showing how to build integration tests.
• :framed_picture: andino_lichtblick: Lichtblick integration with Andino for web-based visualization.

:busts_in_silhouette: Community

Join our Discord and contribute to the community!

:pick: Robot Assembly

Visit andino_hardware for assembly instructions.

:mechanical_arm: Installation

Remember to first go over the assembly instructions at andino_hardware!

Platforms

• ROS 2: Humble Hawksbill
• OS:
  • Ubuntu 22.04 Jammy Jellyfish
  • Ubuntu Mate 22.04 (On real robot (e.g: Raspberry Pi 4B))

Via ansible

See andino_ansible_config: This repository contains Ansible configurations for managing and automating the setup and configuration of an Andino robot.

Build from Source

Dependencies

1. Install ROS 2
2. Install colcon

colcon workspace

Packages here provided are colcon packages. As such a colcon workspace is expected:

1. Create colcon workspace

mkdir -p ~/ws/src

1. Clone this repository in the src folder

cd ~/ws/src

git clone https://github.com/Ekumen-OS/andino.git

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Contributing

Contributing to Andino

The following is a set of guidelines for contributing to Andino project. These are mostly guidelines, not rules. Use your best judgment, and feel free to propose changes to this document in a pull request.

Code of Conduct

This project and everyone participating in it is governed by the CODE OF CONDUCT. By participating, you are expected to uphold this code.

How to Contribute

Reporting Bugs

Before Submitting a Bug Report

1. Determine the repository which should receive the problem.
2. Search the repository’s issues to see if the same or similar problem has been opened. If it has and the issue is still open, then add a comment to the existing issue. Otherwise, create a new issue.

How to Submit a Good Bug Report

Create an issue on the repository that is related to your bug, explain the problem, and include additional details to help maintainers reproduce the problem. Refer to the `Short, Self Contained, Correct (Compilable), Example Guide as well as the following tips:

• Use a clear and descriptive title for the issue to identify the problem.
• Describe the exact steps which reproduce the problem in as many details as possible. When listing steps, don’t just say what you did, but explain how you did it.
• Provide specific examples to demonstrate the steps. Include links to files or projects, or copy/pasteable snippets, which you use in those examples.
• Describe the behavior you observed after following the steps and point out what exactly is the problem with that behavior.
• Explain which behavior you expected to see instead and why.
• Include screenshots and animated GIFs which show you following the described steps and clearly demonstrate the problem.
• If the problem wasn’t triggered by a specific action, describe what you were doing before the problem happened and share more information using the guidelines below.

Provide more context by answering these questions:

• Did the problem start happening recently (e.g. after updating to a new version) or was this always a problem?
• If the problem started happening recently, can you reproduce the problem in an older version? What’s the most recent version in which the problem doesn’t happen?
• Can you reliably reproduce the issue? If not, provide details about how often the problem happens and under which conditions it normally happens.

Include details about your configuration and environment:

• Which version of Andino are you using??
• What’s the name and version of the OS you’re using?
• Are you running Andino using the provided docker container? See docker.
• Are you running Andino in a virtual machine? If so, which VM software are you using and which operating systems and versions are used for the host and the guest?

Suggesting Enhancements

This section guides you through submitting an enhancement suggestion, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions.

Before creating enhancement suggestions, please check before-submitting-a-bug-report as you might find out that you don’t need to create one. When you are creating an enhancement suggestion, please include as many details as possible. When filling in the issue form for an enhancement suggestion, include the steps that you imagine you would take if the feature you’re requesting existed.

Before Submitting An Enhancement Suggestion

• Check if you’re using the latest software version. A more recent version may contain your desired feature.
• Determine which repository the enhancement should be suggested in
• Perform a cursory search to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.

How Do I Submit A (Good) Enhancement Suggestion

Enhancement suggestions are tracked as GitHub issues. After you’ve determined which repository your enhancement suggestion is related to, create an issue on that repository and provide the following information:

• Use a clear and descriptive title for the issue to identify the suggestion.
• Provide a step-by-step description of the suggested enhancement in as many details as possible.
• Provide specific examples to demonstrate the steps. Include copy/pasteable snippets which you use in those examples, as Markdown code blocks.
• Describe the current behavior and explain which behavior you expected to see instead and why.
• Include screenshots and animated GIFs which show you following the described steps and clearly demonstrate the problem.
• Explain why this enhancement would be useful to most users and isn’t something that can or should be implemented as a separate application.
• Specify which version of Andino you’re using.
• Specify the name and version of the OS you’re using.

Contributing Code

We follow a development process designed to reduce errors, encourage collaboration, and make high quality code. Review the following to get acquainted with this development process.

#. Read the reporting_bugs and suggesting_enhancements sections first.

#. Fork the Andino package you want to contribute to. This will create your own personal copy of the package. All of your development should

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