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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

3. Openclaw Api-Key Configuration

OpenClaw API-KEY Configuration

OpenClaw API-KEY Configuration1. Course Content2. Applying for an API-KEY2.1 Recommended Model Service Providers3. Configuring the OpenClaw API-KEY3.1 Configuration Methods3.2 Quick Configuration3.2.1 Configuring the Base URL3.2.2 Filling in the apiKey4. Viewing Connected Model Status4.1 View the List of Configured Models4.2 Verify Whether the Configuration Was Successful5. Other Ways to Connect5.1 CLI Command Configuration (Suitable for Beginners)5.2 Modifying the Configuration File (Recommended Method)Configuration File LocationEditing the Configuration File6. Common Problems and Solutions

1. Course Content

This course details how to configure the API-KEY for AI models in OpenClaw, including the API-KEY application process, two configuration methods (CLI command configuration and configuration file modification), and how to verify whether the configuration was successful. After completing this course, you will be able to successfully connect to and use various AI large model service providers.

Course Objectives

  • Understand the types of model service providers supported by OpenClaw
  • Master the method for applying for an API-KEY
  • Learn to view and verify the status of connected models

2. Applying for an API-KEY

2.1 Recommended Model Service Providers

  • For the API-KEY application, refer to the companion tutorial [AI Large Model Development] — [Register Model Service Account]

  • OpenClaw supports many model service providers, for example:

    • OpenAI
    • Alibaba Cloud - Qwen (Tongyi Qianwen)
    • DeepSeek
    • Zhipu AI
    • Moonshot AI
  • You can freely choose a model service provider according to the network policies of your country/region, and register on the corresponding official website to apply for an API-KEY

3. Configuring the OpenClaw API-KEY

3.1 Configuration Methods

OpenClaw provides two ways to configure the API-KEY:

  1. CLI command configuration (suitable for beginners)
  2. Directly modifying the configuration file (suitable for developers)
  3. Configuration file path: $HOME/.openclaw/openclaw.json

3.2 Quick Configuration

[!NOTE]

  • The factory-default openclaw.json configuration file comes with the baseurl and commonly used models of the Alibaba Cloud Bailian platform built in, for quick configuration and use.
  • Suitable for a quick first-time experience: first register an Alibaba Cloud Bailian large model account and create an API-KEY (refer to the companion tutorial [AI Large Model Development] — [Register Model Service Account])
  • The factory-default configuration file already has the Bailian model parameters configured; just fill in the API-KEY and you can use it directly
  • Open the OpenClaw configuration file:
nano $HOME/.openclaw/openclaw.json

3.2.1 Configuring the Base URL

  • Users overseas: choose the corresponding baseurl according to the service region you use (go to the Alibaba Cloud Bailian Console homepage, switch to the target region in the upper-right corner of the page, such as Singapore, then select API Key in the left navigation bar to enter the management page and create an API Key)

image-20260723202258116

3a81ad1e493048fea81fa2220e00e47a

3.2.2 Filling in the apiKey

  • Find the corresponding field and replace the baseurl and apiKey fields

image-20260427175701480

  • After filling in, press Ctrl+X, then press Y to confirm saving, and finally press Enter to exit

 

4. Viewing Connected Model Status

4.1 View the List of Configured Models

After the configuration is complete, you can use the following command to view the connected models:

xxxxxxxxxx
openclaw models list

image-20260427181208772

4.2 Verify Whether the Configuration Was Successful

  1. Test conversation

    xxxxxxxxxx
    openclaw tui

    Launch the TUI interface, send a test message (such as "Hello"), and confirm that the model responds normally.

image-20260427181707062

 

5. Other Ways to Connect

  • If you have your own model provider or need to connect other model providers later, refer to the following tutorials

5.1 CLI Command Configuration (Suitable for Beginners)

  1. Start the configuration wizard

    xxxxxxxxxx
    openclaw onboard
  • Select 【Yes】 and press Enter

image-20260427171151912

  • Select QuickStart as the configuration mode and press Enter

image-20260427171417315

 

  1. Select the model service provider

    • Use the up/down arrow keys to select the provider for which you have applied for an API-KEY, and press Enter to confirm. Here, the Alibaba Cloud Bailian model provider is used as an example; the configuration process is the same for other model providers.
    • Here, select the custom provider 【Custom Provider】

    image-20260427171711888

    • Fill in the model provider's base_url

image-20260427172302299

 

  1. Enter the API-KEY
  • After selecting the provider, the system will prompt you to enter the corresponding API-KEY

image-20260427172456361

  • Paste or enter the API-KEY you applied for, then press Enter to confirm

image-20260427172816515

  • Select OpenAI-compatible as the API protocol

image-20260427172908400

  1. Fill in the model name; here, MiniMax is used as an example

image-20260427173143879

  • Endpoint ID is an identifier for the model provider and can be filled in freely

image-20260427173335228

  • Leave Model alias (optional) blank directly

image-20260427173502891

  1. Other configurations
  • Select skip for all other configuration items as shown in the figures below; they do not need to be configured

image-20260427173738590

image-20260427173805504

image-20260427173838434

  • For Enable Hooks, press Space to select Skip for now

image-20260427173915965

  • Select Restart to restart the gateway and apply the configuration

image-20260427174010877

 

 

5.2 Modifying the Configuration File (Recommended Method)

Configuration File Location

  • The configuration file is located at: $HOME/.openclaw/openclaw.json

Editing the Configuration File

xxxxxxxxxx
nano $HOME/.openclaw/openclaw.json
# Or use your preferred editor, such as vim, code, etc. It is recommended to edit with an IDE like VS Code for more convenience
  1. Add the model provider configuration

    Add or modify the models.providers section in the configuration file. Refer to the format below; you can also refer to the configuration format of the factory-default bailian provider:

    xxxxxxxxxx
    {
      "models": {
        "providers": {
          "openai": {
            "apiKey": "OPENAI_API_KEY"
          },
          "anthropic": {
            "apiKey": "ANTHROPIC_API_KEY"
          },
          "google": {
            "apiKey": "GOOGLE_API_KEY"
          }
        }
      },
      "agents": { 
        "defaults": {
          "model": {
            "primary": "openai/gpt-4"
          }
        }
      }
    }

image-20260723202924131

  1. Save and exit

    • Press Ctrl+O to save and Ctrl+X to exit (nano editor)
  2. Factory-default Bailian configuration (you can modify it directly or use it as a reference)

xxxxxxxxxx
  "bailian": {
    "baseUrl": "https://dashscope.aliyuncs.com/compatible-mode/v1",
    "apiKey": "sk-a87e1137b17b4a35af13aaxxxxxxx",
    "api": "openai-completions",
    "models": [
      {
        "id": "qwen3.5-plus",
        "name": "qwen3.5-plus",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 1000000,
        "maxTokens": 65536
      },
      {
        "id": "qwen3.6-plus",
        "name": "qwen3.6-plus",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 1000000,
        "maxTokens": 65536
      },
      {
        "id": "qwen3-coder-next",
        "name": "qwen3-coder-next",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 262144,
        "maxTokens": 65536
      },
      {
        "id": "MiniMax-M2.5",
        "name": "MiniMax-M2.5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 196608,
        "maxTokens": 32768
      },
      {
        "id": "glm-5",
        "name": "glm-5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 202752,
        "maxTokens": 16384,
        "compat": {
          "thinkingFormat": "qwen"
        }
      },
      {
        "id": "glm-4.7",
        "name": "glm-4.7",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 202752,
        "maxTokens": 16384,
        "compat": {
          "thinkingFormat": "qwen"
        }
      },
      {
        "id": "kimi-k2.5",
        "name": "kimi-k2.5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 262144,
        "maxTokens": 32768,
        "compat": {
          "thinkingFormat": "qwen"
        }
      }
    ]
  }

 

6. Common Problems and Solutions

Problem: After configuration, a prompt indicates that the API-KEY is invalid or authentication failed

  1. Confirm that the API-KEY is correct (be careful not to have extra spaces)
  2. Check whether the API-KEY has expired or been disabled
  3. Confirm that the account balance is sufficient (some providers require prepayment)

 

Problem: The configuration is correct but the model service cannot be connected

  1. Check whether the network connection is normal
  2. Confirm whether the network in your country/region can access the service
  3. Try switching to another model service provider for testing
Openclaw Core Concepts
Openclaw Switching Models

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