ROS 2 + Nav2 + Open-RMF on iRobot Create 2 + Raspberry Pi 5 + Intel RealSense D455.
QuickBot is the fastest reliable path to a real, TurtleBot-style robot using off-the-shelf parts. The plan is opinionated: validate every layer of the stack on ROS 2 Kilted Kaiju / Ubuntu 24.04 first, then migrate to ROS 2 Lyrical Luth / Ubuntu 26.04 once Kilted gates pass.
The full design is in docs/master-plan.md. This README is the short version.
| Phase | Gate | State |
|---|---|---|
| 0 — Host prep + repo | G0 build, G1 DDS | done (on M2 Air, arm64) |
| 1 — ROS container smoke | G1 | done |
| 2 — Create 2 raw serial | G2, G3 | hardware ready, awaiting Pi bench-up |
| 3 — Create 2 ROS driver | G4 | code complete, awaiting hardware test |
| 4 — D455 + scan | G5, G6 | not started |
| 5 — SLAM + map | G7 | not started |
| 6 — Nav2 real robot | G8 | not started |
| 7 — Open-RMF demo | G9 | not started |
| 8 — RMF -> Nav2 adapter | G10 | not started |
| 9 — Lyrical migration | G11 | not started |
Detailed pass/fail evidence: validation/gates.md.
→ Full quickstart: zero to a driving robot in ~30 min (docs/quickstart.md) — covers Pi prep, wiring, G2–G4, the second-shell pattern, and the two Kilted gotchas that bit during first bring-up.
TL;DR for someone who already has the kilted-base image built and a wired robot:
git clone git@github.com:TafyLabs/quickbot.git ~/quickbot &&cd~/quickbot
docker compose build robot
./tools/g2_devices.sh # G2: device passthrough
docker compose run --rm robot bash -lc \
'cd /ws/src/create2_driver && python3 -m create2_driver.smoke --port /dev/ttyUSB0'# G3
docker compose run --rm robot bash -lc \
'source /opt/ros/$ROS_DISTRO/setup.bash && cd /ws && colcon build --symlink-install && \ source install/setup.bash && ros2 launch quickbot_bringup robot.launch.py'# G4 (driver)Then from a second SSH session, open another container shell and ros2 run teleop_twist_keyboard teleop_twist_keyboard to actually drive it.
quickbot/
├── docker/ Dockerfiles: kilted-base, robot, rmf-kilted (+ lyrical-base later)
├── compose.yaml Three services: robot, dev, rmf — all host networking
├── config/ Cyclone DDS config, Nav2 params, Create 2 calibration
├── maps/ SLAM-produced occupancy maps (.yaml + .pgm)
├── rmf_maps/ Open-RMF building + nav_graph YAML
├── ws/src/ ROS 2 packages:
│ ├── quickbot_description/ URDF/Xacro + static transforms
│ ├── create2_driver/ Serial driver: /cmd_vel -> wheels, /odom + /tf out
│ ├── quickbot_bringup/ Launch files for robot / sensors / Nav2
│ ├── quickbot_nav/ Nav2 params, maps, SLAM/localization configs
│ ├── quickbot_rmf_adapter/ full_control RMF fleet adapter -> Nav2
│ └── quickbot_tools/ Validation + operator helpers
├── validation/ gates.md (pass/fail), bags/, logs/, screenshots/
└── docs/ Architecture, gates, runbook, calibration, ADRs
docs/quickstart.md— zero to a driving robot, with the gotchasdocs/master-plan.md— full design document (the source of truth)docs/architecture.md— software + hardware topology, topic/frame contractdocs/runbook.md— operator commands: startup, mapping, navigation, shutdowndocs/gates.md— validation gates G0–G11 with procedures and evidencedocs/hardware-bringup.md— wiring + Pi OS setup + pre-G2 sanitydocs/calibration.md— Create 2 odometry calibration proceduredocs/troubleshooting.md— first-thing-to-check tablesdocs/adr/— architecture decision records
- Do not power the Pi 5 from the Create 2 Vpwr serial pins. The OI spec limits those pins to ~200 mA continuous. Use a USB-C PD bank or a properly rated buck converter.
- Conservative velocity limits during bring-up:
max_linear_mps ≤ 0.22,max_angular_rps ≤ 0.8. - Driver must stop on
/cmd_veltimeout (default 0.5 s) and on shutdown. - Test area: clear floor, no people/pets in the active arc, physical access to the Create 2 power button at all times.
MIT.