Differential-drive AMR · 2022
linorobot2
The most-documented open mobile robot base: a diff-drive chassis with an ESP32/Teensy micro-ROS bridge, a LiDAR, and a complete ROS 2 Nav2 stack that works out of the box.
$500
Juan Miguel Jimeno (open)
— DOF
Open source
Why it matters
The fastest path from zero to a robot that maps a room and navigates to a goal by itself. Every layer is documented and modifiable.
Where it falls short
Diff-drive with no suspension — it is an indoor flat-floor robot. Wheel slip will wreck your odometry on carpet.
Read this if you plan to copy itThe parts below are the same classes of component at this platform scale — they are not the exact vendor parts. Use them to understand the architecture and to price a home-built equivalent.
What it is made of
| Subsystem | Comparable part | Price | Primary spec |
|---|---|---|---|
| Compute | Raspberry Pi 5 (8 GB) | $80 | 4× Cortex-A76 @ 2.4 GHz |
| Sensors | RPLIDAR A1M8 | $99 | 0.15 – 12 m |
| Compute | ESP32-S3 | $5 | 2× Xtensa LX7 @ 240 MHz |
| Sensors | BNO085 9-DOF IMU | $25 | 3-axis accel + gyro + magnetometer |
Software you would touch
ROS 2 Humble/Jazzy · Nav2 · micro-ROS · SLAM Toolbox