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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. Must Read Before Use

User Manual

User Manual1. Battery Charging Instructions1.1 Low Battery Threshold Alarm1.2 Battery Charging2. Initial Setup Steps2.1 Assembling the Robot2.2 Downloading the Virtual Machine Image2.3 Configuring the Virtual Machine to Connect to the Robot3. Viewing Source Code3.1 Viewing and Editing Source Code with Visual Studio Code3.2 Directory Structure and Functionality3.4 How to Compile ROS Packages

1. Battery Charging Instructions

1.1 Low Battery Threshold Alarm

  • When the battery level drops below the threshold (10.2V), the buzzer will emit a "beep-beep-beep" alarm; at this point, you should charge the battery using the charger. Press the button on the right to switch to the BATTERY_INFO panel and view the current voltage and voltage threshold. image-20260803150731664

1.2 Battery Charging

  • Plug the included charger into a power outlet; the charger's indicator light will turn green.

image-20260803145810473

  • Turn off the robot's power and connect the charger plug to the charging port on the control board.

image-20260803145916765

 

  • The charger indicator light turns red during charging and switches to green once the battery is fully charged.

image-20260803150001725

 

2. Initial Setup Steps

  • Follow the steps below to complete basic configurations, such as robot assembly and virtual machine installation.

2.1 Assembling the Robot

  • Refer to [2. Assembly Course] to complete the assembly of the robot unit.

image-20260803151809881

2.2 Downloading the Virtual Machine Image

  • Refer to the tutorial document [3. Preparation — 3. Install VM and Start System] to download the factory-provided virtual machine image. The image file is located in the [Virtual Machine Image] folder within the accompanying materials.

 

2.3 Configuring the Virtual Machine to Connect to the Robot

  • Refer to the tutorial document [3. Preparation — 4. Configure VM and Connect Robot] and use the RobotManager tool within the virtual machine to configure basic robot information, such as the robot model, micro-ROS agent address, and camera IP.

 

3. Viewing Source Code

Note

  • Visual Studio Visual Studio Code is a lightweight, efficient, and extensible tool that integrates core development features, making it one of the most popular development tools worldwide.

  • Official website: https://code.visualstudio.com/. If you haven't installed Visual Studio Code yet, you can search for the official site to download and install it.

3.1 Viewing and Editing Source Code with Visual Studio Code

  • Launch Visual Studio Code, click on the Extensions icon on the left sidebar, and install the following three remote connection extensions: Remote - SSH, Remote - SSH: Editing Configuration Files, and Remote Explorer.

image-20260107173441245

  • Next, click on the Remote connection icon on the left sidebar and select "New Remote."

image-20260107174218199

  • In the input box that appears, enter the connection string in the format username@IP_address (based on your specific board). Press Enter, then enter the password yahboom to log in to the device.

image-20260803143154675

  • Then, click "Open Folder." In the pop-up window, select the folder you wish to view—in this example, select microros_ws—and click "OK." image-20260803143950565

  • The workspace directory structure is as follows:

3.2 Directory Structure and Functionality

  • 📁 src/ — Source code directory; contains the source code for all ROS 2 packages and serves as the core of the workspace development:

Package NameFunctionality
interfaces/Custom message/service/action interface definitions (msg, srv, action)
microros_v2_bringup/Robot bringup package: launch files, configuration files (config), RViz visualization configs
microros_v2_opencv_visual_pkg/OpenCV visual processing node
microros_v2_opencv_base_pkg/OpenCV basic tutorial scripts (geometric transformations, image enhancement, drawing, etc.)
microros_v2_yolo_pkg/YOLO object detection-related node
yolo_onnx_follow_pkg/Visual following based on YOLO ONNX model
microros_v2_kcf_follow_pkg/KCF object tracking and following
microros_v2_mediapipe_pkg/MediaPipe perception functions (human body, gestures, etc.)
microros_v2_ptz_visual_control_pkg/PTZ (Pan-Tilt-Zoom) visual control
microros_v2_no_ptz_visual_control_pkg/Visual control for non-PTZ versions
multi_brains/ , multi_brains_pre/Multi-"brain" decision-making/task planning modules (includes LLM/Dify integration configs)
roadnet/Road network/navigation-related (C++ package, includes graph data)
robot_description/Robot URDF model description
robot-control/, ros_robot_app/Robot control and application layers
common_demo/General-purpose sample code
scripts/, robot_config/Auxiliary scripts and robot configurations

  • 📁 build/ — Intermediate build artifacts

Intermediate files generated during colcon compilation (CMake cache, object files, etc.); these can be deleted and regenerated by recompiling.

  • 📁 install/ — Build installation output

The installation directory generated by colcon, containing executables, libraries, Python packages, and launch files. Run source install/setup.bash to use the nodes and commands compiled here.

  • 📁 python_env/ — Python virtual environments

Independent Python environments managed by uv, preventing vision-related dependencies (such as onnxruntime, mediapipe, etc.) from polluting the system environment:

  • mircoros_v2_env/ — Main project Python environment; yolo_env/ — Dedicated YOLO environment

  • 📁 third_party_library/ — Independent workspace for third-party libraries

A separate colcon workspace dedicated to compiling and installing third-party SLAM-related libraries (cartographer, cartographer_ros, slam_gmapping, openslam_gmapping); isolated from the main workspace for easier maintenance.

  • 📁 cache/ — Runtime cache

Cache files generated during program execution, such as debug images (llm_camera.jpg, grid_images.png), YOLO model inference validation images (bus_predict_yolo11n/), etc. ### 3.3 Symbol Definitions

  • The symbols $HOME and ~ used in subsequent tutorial documents represent the user's home directory, /home/yahboom. For example:

$HOME/microros_ws/src/microros_v2_bringup/microros_v2_bringup/visual_track.py is equivalent to /home/yahboom/microros_ws/src/microros_v2_bringup/microros_v2_bringup/visual_track.py

image-20260803155819095

 

3.4 How to Compile ROS Packages

Shortcut Method

  • Locate the .vscode folder within the provided resource package and copy the entire folder to the /home/yahboom/_ws path in the virtual machine. Note that you may need to press Ctrl+H to make this hidden folder visible.

  • In the Visual Studio Code interface, press Ctrl+Shift+B to open the build selection panel. Select Build Package when compiling standard packages.

image-20260803155916263

  • Select the package you wish to compile from the list that appears.

image-20260803160130595

 

  • When compiling microros_v2_bringup and robot_description, select Build Package(symlink). This ensures that any subsequent modifications to launch files or configurations within microros_v2_bringup take effect immediately without requiring a re-compilation of the package.

image-20260803160231019

 

Manual Compilation Method

cd ~/microros_ws/
colcon build --packages-select <package_name>

  • Example

image-20260803160641022

Readme Learning Route
Introduction to MicroROS V2 Control Board

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