GORM Rover Software Overview

Welcome to the GORM Rover Software Overview, the rover consists of these main ROS 2 packages:

• gorm_bringup - Main system launcher with robot state publisher and control nodes
• gorm_base_control - Ackermann Kinematics interface for 6-wheel, 4-steer kinematics (/cmd_vel → /motor commands)
• gorm_teleop - Manual control via joystick (teleop_twist_joy_node, joy-to-cmd_vel converter)
• gorm_sensors - Sensor drivers for RGBD cameras, IMU, etc.
• gorm_navigation - Navigation stack and RL-based navigation nodes and configs
• gorm_web_interface - Lightweight web server and web UI for monitoring and control

Table of Contents

• Installation: Provides a step-by-step guide to install the GORM Rover Software on the Rover.
• Launching: Explains how to launch the GORM Rover Software, including building and running the Docker images.