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MicroROS V2 Robot Car📖
01.Introduction
  • 0.Unboxing Video
  • 1. Readme Learning Route
  • 2. Must Read Before Use
  • 3. Introduction to MicroROS V2 Control Board
  • 4. Introduction to LiDAR
  • 5. Introduction to ESP32 Camera Module
  • 6. FAQ
  • 7. About Charging
02.Assembly course
  • Assembly Video
03.Preparation
  • 1. Quickly Start
  • 2. Write Firmware
  • 3. Install VM and Start System
  • 4. Configure VM and Connect Robot
  • 5. Connect to MicroROS Agent
04.Quick start control course
  • 1. VM Keyboard Remote Control
  • 2. VM Handle Remote Control
  • 3. USB Handle Control
05.Robot control course
  • 1. Robot Information Release
  • 2. Robot Keyboard Control
  • 3. Robot Handle Control
  • 4. Robot State Estimation
  • 5. Linear Speed Calibration
  • 6. Angular Velocity Calibration
  • 7. Robot URDF Model
06.Lidar course
  • 1. Precautions for LiDAR Mapping and Navigation
  • 2. Lidar Avoid
  • 3. Lidar Following
  • 4. Lidar Guard
  • 5. Lidar Patrol
  • 6. Gmapping Mapping
  • 7. Cartographer Mapping
  • 8. Cartographer Quickly Repositioning Navigation
  • 9. Slam Toolx Mapping
  • 10. Navigation2 Single Point Navigation
  • 11. Navigation2 Multi Point Navigation
  • 12. Ros Robot App Mapping And Navigation
07.Road network planning
  • 1. Introduction to Road Network Planning and Quick Start
  • 2. Build a Pose Map
  • 3. Road Network Annotation
  • 4. Planning and Navigation Between Road Networks
  • 5. Road Network Navigation in Any Pose
  • 6. Path Replanning
08.Vision basic course
OpenCV Image Processing
  • 1. Introduction to OpenCV Source CV
  • 2. Open Source CV Geometric Transformation
  • 3. Open Source CV Image Processing and Drawing Text Line Segments
  • 4. Open Source CV Image Beautification
09.Visual General Course (For Standard&Superior version)
4. Yolov11&26 Visual Recognition
  • 1. YOLO Environment Setup
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 6. Image Classification
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model Prediction
1. ESP32 Visual Recognition Module Configuration
  • 1. Serial Port Configuration WiFi Instructions
  • 2. Use ESP32 Camera Module in Robot Car
  • 3. Servo PTZ Calibration
2. OpenCV Visual Recognition
  • 1. Human Pose Estimation
  • 2. Object Detection
  • 3. AR Vision
  • 4. QR Code
  • 5. Color Recognition
  • 6. Facial Recognition
  • 7. AprilTag Machine Code Recognition
3. Mediapipe Visual Recognition
  • 1. Hand Detection
  • 2. Pose Detection
  • 3. Holistic Detection
  • 4. Facial Detection
  • 5. Facial Recognition
  • 6. Facial Special Effects
  • 7. 3D Object Recognition
  • 8. Brush
  • 9. Gesture Recognition
  • 10. Palm Target Localization
  • 11. Fingertip Trajectory Recognition
10.Visual Advanced Course (Just for Standard version)
1. Visual Control
  • 1. QR Code Recognition Control Action
  • 2. AprilTag Control Car Action Group
  • 3. Gesture Control Car Action Group
  • 4. Visual Line Tracking
2. Visual Tracking
  • 1. Color Tracking
  • 2. Facial Tracking
  • 3. QR Code Tracking
  • 4. Object Recognition And Tracking
  • 5. Mediapipe Palm Tracking
  • 6. Mediapipe Gesture Tracking
  • 7. Mediapipe Human Pose Tracking
  • 8. KCF Object Tracking
  • 9. AprilTag Machine Code Tracking
3. Visual Following
  • 1. Color Follow
  • 2. Face Follow
  • 3. QR Code Follow
  • 4. Mediapipe Palm Follow
  • 5. Mediapipe Gesture Follow
  • 6. Mediapipe Human Posture Follow
  • 7. AprilTag Machine Code Follow
  • 8. Object Follow
11.Visual Advanced Course (Just for Superior version)
1. Visual Control
  • 1. QR Code Recognition Control Action
  • 2. AprilTag Control Car Action Group
  • 3. Gesture Control Car Action Group
  • 4. Visual Line Tracking
2. Visual Tracking
  • 1. Color Tracking
  • 2. Facial Tracking
  • 3. QR Code Tracking
  • 4. YOLO Object Recognition and Tracking
  • 5. Mediapipe Palm Tracking
  • 6. Mediapipe Gesture Tracking
  • 7. Mediapipe Human Pose Tracking
  • 8. KCF Object Tracking
  • 9. AprilTag Machine Code Tracking
3. Visual Follow
  • 1. Color Follow
  • 2. Face Follow
  • 3. QR Code Follow
  • 4. Mediapipe Palm Follow
  • 5. Mediapipe Gesture Follow
  • 6. Mediapipe Human Pose Follow
  • 7. AprilTag Machine Code Follow
  • 8. Object Follow
12.AI Large Model Basic and Applications Course
1. AI Large Model Preparation
  • 1.AI Large Model Preparation
2. AI Large Model Basic Course
  • 1. AI Large Model Types and Principles
  • 2. RAG Retrieval Augmented and Training Samples
  • 3. Embodied Intelligent System Architecture
  • 4. Embodied Intelligence Core Source Code
3. AI Large Model Development
  • 1. Register Model Service Account
  • 2. Configure API KEY
  • 3. Dify Introduction
  • 4. Dify Basic Features
  • 5. RAG Knowledge Base Deployment
  • 6. AI Application Development Chatbot
  • 7. RAG Knowledge Base and Chatbot
  • 8. AI Agent Workflow
4. AI Large Model (Text Version)
  • 1. Semantic Understanding and Instruction Following
  • 2. Multimodal Visual Understanding
  • 3. Multimodal Visual Understanding + Basic Control
  • 4. Multimodal Visual Understanding + Object Following
  • 5. Multimodal Visual Understanding + Visual Line Following
  • 6. Multimodal Visual Understanding + SLAM Navigation
  • 7. Multimodal Visual Understanding + SLAM Navigation + Visual Line Following
  • 8. Multimodal Visual Understanding + SLAM Navigation + Object Following
  • 9. Intent Inference + Multimodal Visual Understanding + SLAM Navigation
13.Openclaw Basics Course
  • 1. Openclaw Introduction
  • 2. Openclaw Core Concepts
  • 3. Openclaw Api-Key Configuration
  • 4. Openclaw Switching Models
  • 5. Openclaw System Prompt
  • 6. Openclaw Common CLI Command
14. Openclaw Interaction Course
  • 1. Openclaw Webchat Interaction
  • 2. Openclaw Tui Interaction
  • 3. Openclaw Whatsapp Interaction
15.Openclaw Development Course
  • 1. Openclaw Robot Mcp Service Integration
  • 2. Robot CLI Command Tools
  • 3. Robot-Control Plugin Tools
  • 4. Openclaw Skills Development
  • 5. Openclaw Scheduled Tasks
  • 6. Openclaw Multi Agent System
  • 7. Openclaw Proactive Interaction
  • 8. Openclaw Vector Memory
16.Openclaw Embodied Intelligence Course
  • 1. OpenClaw Natural Interaction + Basic Control
  • 2. OpenClaw Natural Interaction + Slam Navigation
  • 3. OpenClaw Natural Interaction + Multimodal Visual Understand
  • 4. OpenClaw Natural Interaction + Multimodal Visual Understand + Slam Navigation + Visual Follow
  • 5. OpenClaw Natural Interaction + Multimodal Visual Understand + Slam Navigation + Visual Track
17.Multi-machine Course
  • 1. Multi Machine Handle Control
  • 2. Multi Machine Keyboard Control
  • 3. Multi Machine Navigation
18.MicroROS-V2 Control Board Development Environment
  • 1. Set Up the ESP32-IDF Development Environment
  • 2. ESP32-IDF Configuration Tool
  • 3. ESP Flash Tool Flashing Firmware
  • 4. Install ESP32 Microros Components
  • 5. Install And Start Microros Agent
19.MicroROS-V2 Control Board ESP32 Basic Course
  • 1. Led Light Up
  • 2. Button Function
  • 3. Drive Buzzer
  • 4. Oled
  • 5. Usb Host Function
  • 6. Serial Communication
  • 7. Battery Voltage Detection
  • 8. Drive Pwm Servo
  • 9. Drive Motors
  • 10. Read Motor Encoder Data
  • 11. Pid Motor Speed Control
  • 12. Robot Kinematics Analysis Theory
  • 13. Read Imu Data
  • 14. Read Lidar Data
  • 15. Flash Data Storage
  • 16. Custom Partition Table
  • 17. Bluetooth Communication
  • 18. Wifi Connection
  • 19. ESP32 Visual Recognition Module
20.MicroROS-V2 Control Board Micro_ros Basic Course
  • 1. Publish Topics
  • 2. Subscribe To Topics
  • 3. Multi Topic Subscription And Publishing
  • 4. Subscribe To Buzzer Topic
  • 5. Subscribe To Pwm Servo Topic
  • 6. Subscribe To Speed Control Topic
  • 7. Publish Odometry Topic
  • 8. Publish Imu Data Topic
  • 9. Publish Lidar Data Topic
21. Linux System Course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
22.Docker Course
  • 1.Docker overview and docker installation
  • 2.Common commands for docker image containers
  • 3.Docker images deeply understand and publish images
23.ROS Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
Download
  • Mapping_APP(iOS_Android)
  • Code
  • Software_Tools
  • VM_System_File
  • 3D_Model_File
  • ESP32_Firmware
  • Dify LLM Base
  • Instruction_Manual
  • VMware
Download ZIP

Welcome to MicroROS V2 Robot Car repository

2. Openclaw Core Concepts

OpenClaw Core Concepts

OpenClaw Core Concepts2. Course Content3. Core Concepts3.1 Chat Channels3.2 Agent3.3 Sessions and Memory3.4 Tools3.5 Skills3.6 Models3.7 Gateway Architecture4. Core Concept Relationship Diagram5. Chapter Summary

2. Course Content

This chapter systematically explains the seven core concepts of OpenClaw:

  1. Chat Channels - The platform where AI communicates with users
  2. Agent - The core brain of the AI agent
  3. Sessions & Memory - Context management capability
  4. Tools - The hands and feet that execute specific operations
  5. Skills - Encapsulated functional modules
  6. Models - The engine that drives AI thinking
  7. Gateway - The nervous center of the system

3. Core Concepts

3.1 Chat Channels

What are chat channels?

Chat channels are the communication platforms where users interact with AI Agents. Think of them as the "desk" or "workplace" of an AI employee.

Supported channel types:

Channel TypeRepresentative Platforms
Instant MessagingSlack, Discord, Microsoft Teams
Social AppsTelegram, WhatsApp, Signal
Web InterfaceWebChat, REST API

image-20260427160539251

 

Core features of channels:

  • Plug and play - Enable the desired channel without redeploying
  • Many-to-many binding - One channel can connect to multiple Agents, and one Agent can also serve multiple channels

3.2 Agent

Agent is the core decision-making unit of OpenClaw. Think of it as your "virtual employee" or "brain". Each Agent has its own independent:

  • Persona prompt - Defines the AI's behavioral style and role
  • Model selection - Determines which LLM to use (such as GPT-4, Claude, etc.)
  • Channel binding - Specifies which platforms to work on

Key features:

  • Multi-agent parallelism - A single OpenClaw instance can run multiple Agents
  • Role isolation - Different Agents do not interfere with each other and are configured independently

3.3 Sessions and Memory

Why is memory needed?

The session and memory system allows the AI to remember context and provide a coherent conversation experience.

OpenClaw's three-tier memory architecture:

Short-term Memory

  • Storage format: daily log file (memory/yyyy-mm-dd.md)
  • Retention period: conversations from the last 1-2 days
  • Purpose: context for handling the current task

Near-term Memory

  • Storage location: sessions/ directory
  • Management method: sliding window compression, keeping complete session archives
  • Purpose: context tracking for multi-turn conversations

Long-term Memory

  • Storage content: user preferences, important decisions, historical experience
  • Loading method: automatically load memory.md at the start of each conversation
  • Purpose: achieving personalized intelligence and continuous learning

 


3.4 Tools

What are tools?

Tools are the "hands, feet, and senses" through which an Agent interacts with the external world, allowing the AI to perform real actions. If the LLM is the brain, then tools are the limbs attached to the brain.

OpenClaw built-in tools:

Tool TypeDescriptionUse Cases
File systemRead/write files, create directories, search contentDocument processing, data organization
Network requestsHTTP API calls, Webhook triggersThird-party service integration
Shell commandsExecute system commands, run scriptsAutomated operations, batch processing
Scheduled tasksCron scheduling, periodic executionScheduled backups, daily report delivery

Tool execution flow:

User instruction → Agent understands intent → selects the appropriate tool → executes the action → returns the result

3.5 Skills

Skills vs. tools: what's the difference?

  • Tools are basic capabilities, such as "open a file" or "click the mouse"
  • Skills are encapsulated business logic, such as "grasp an object with the robotic arm" or "navigate to a certain location"

An intuitive analogy for skills:

If an Agent is compared to a robot, then:

  • Agent = the robot's brain (responsible for thinking and decision-making)
  • Tools = the robot's hands and feet (responsible for performing basic actions)
  • Skills = the robot's training manual (tells the robot how to complete a specific job)

image-20260427161352056

Core features of skills:

  • Atomicity - A skill does only one thing (such as "grasp an object")
  • No decision-making - Skills execute passively and do not judge "whether to do it"
  • Standardized - Follow OpenClaw conventions and can be reused across scenarios
  • Pluggable - Can be installed/uninstalled at any time

Skill sources:

  • ClawHub - A community-maintained skill marketplace
  • Custom skills - Written by developers themselves (in Markdown or TypeScript)

3.6 Models

What are connected models?

Models refer to the large language models (LLMs) that drive Agent thinking; they are the "intelligence engine" of AI. OpenClaw itself does not train models, but acts as a "middle layer" that connects to various LLM providers.

The role of models:

  • Understanding intent - Parses the natural language of user input
  • Task planning - Breaks complex goals down into executable steps
  • Tool selection - Decides which tool or skill to call
  • Self-correction - Adjusts strategies based on execution results

Supported model providers:

ProviderRepresentative ModelsFeatures
OpenAIGPT-4o, GPT-4 TurboStrong overall capability, mature ecosystem
AnthropicClaude 3.5, Claude SonnetExcellent long-text processing, high security
GoogleGemini Pro, Gemini UltraStrong multimodal capability
MistralMistral Large, MixtralOpen-source models, high cost-effectiveness
OllamaLlama 3, Qwen, etc.Local deployment, privacy protection
OthersAny OpenAI-compatible interfaceCustom model integration

3.7 Gateway Architecture

What is Gateway?

Gateway is the "nervous center" and "commander-in-chief" of OpenClaw, and a long-running background service. It centrally manages the connections of all communication channels and coordinates communication among Agents, clients, and nodes.

Core responsibilities of Gateway:

Message routing

  • Receive messages from 50+ channels (WhatsApp, Telegram, Slack, etc.)
  • Verify user identity and permissions
  • Distribute to the corresponding Agent based on the session ID

Session management

  • Maintain the state of all sessions
  • Support "explicitly parallel, serial by default" processing
  • Heartbeat detection and exception retry

Task scheduling

  • Scheduled task triggering (Cron)
  • Load balancing and failover
  • Performance monitoring and logging

Gateway workflow:

xxxxxxxxxx
┌─────────────────────┐
│     User Message    │
│     (Telegram)      │
└───────────┬─────────┘
            ▼
┌─────────────────────────────────┐
│             Gateway             │
│  - Identity verification        │
│  - Session lookup/create        │
│  - Message routing              │
└───────────┬─────────────────────┘
            ▼
┌─────────────────────┐
│    Agent Process    │
│    (Think + Act)    │
└───────────┬─────────┘
            ▼
┌─────────────────────────────────┐
│          Return Result          │
│   (Reply on the same channel)   │
└─────────────────────────────────┘

 


4. Core Concept Relationship Diagram

One-sentence summary of each concept's role:

ConceptIntuitive AnalogyCore Role
Chat ChannelOffice/DeskUser interaction entry point
AgentVirtual employee/BrainDecision-making and planning
Sessions & MemoryWork notes/ExperienceContext management
ToolsHands, feet, and sensesBasic execution capability
SkillsTraining manualEncapsulate business logic and processes
ModelsIntelligence engineThinking and reasoning
GatewayNervous centerScheduling and coordination

5. Chapter Summary

  • OpenClaw is a local-first AI Agent operating system, not a simple chatbot
  • The role positioning and interrelationships of the seven core concepts
  • The hierarchical architecture design of channels, Agents, skills, and tools
  • Supported model providers and selection strategies
  • The key role of Gateway as the system hub
Openclaw Introduction
Openclaw Api-Key Configuration

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