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AAU Rover Software Overview

Welcome to the AAU 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.

Table of Contents

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