Briefing
Wheel odometry and the IMU feed an EKF in robot_localization. SLAM Toolbox maps new spaces and AMCL localizes on saved maps, while Nav2 plans with SmacPlannerHybrid on Reeds-Shepp paths and follows them with an MPPI controller set for Ackermann motion. The physical robot carries an RPLidar, and Grounding DINO object search from plain-language queries is listed as hardware-only.
The agent, the Whisper voice front end and Grounding DINO run on a separate dev machine; the Pi build excludes the agent and simulation packages, and Grounding DINO needs a GPU. The browser UI must be served over HTTPS so the microphone works across the LAN. The agent's default cloud model is gemma-3-27b-it, and the Docker images are marked as not yet implemented.
Written by the Boards & Bots curator
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Repository facts
| Repository | sseifsalama/ |
|---|---|
| Stars | 8 |
| License | Apache-2.0 Permissive |
| Language | Python |
| Last push | 6 May 2026 5 mo ago |