Components

Each hardware component runs as an independent ROS2 node. Enable only the components your robot uses — everything defaults to enabled: false.

Titan

CAN bus DC motor controller with closed-loop velocity and position control.

9-axis NavX sensor publishing orientation, angular velocity, and linear acceleration.

Quadrature encoder via two digital input channels.

Absolute position encoder from a PWM duty cycle signal.

Standard, continuous, and linear servo control over PWM output channels.

HC-SR04 sonar range sensor — 2 cm to 4 m.

GP2Y infrared rangefinder — 10 cm to 80 cm.

General-purpose digital input or output with interrupt support.

5-output LED indicator with solid, blink, and hardware blink modes.

4-channel analog reflectance sensor array over I2C.

Converts joystick input to cmd_vel via the joy node.

Multi-zone depth sensor — up to 64 zones from 2 cm to 4 m.

Battery voltage and state-of-charge monitor — always active.