Romindly ROS1 学院 · 定位导航开源教程

ROS1 定位 · 导航
开源教学舰队 ROS1 Localization · Navigation
Open-Source Teaching Fleet

面向 x86 边缘计算单元的全中文 ROS1 教程系列 —— 从零基础到建图、定位、导航实战。每一行示例代码实机编译验证，每一个参数对照源码核实。原生载具：Romindly Mind 机器人微型工控机。 A hands-on ROS1 tutorial series for x86 edge computing units — from zero to SLAM, localization and navigation. Every example compiles and runs on real hardware; every parameter is verified against the source code. Native carrier: the Romindly Mind robotics micro IPC.

篇双语教程BILINGUAL TUTORIALS

开源仓库REPOSITORIES

可运行示例包EXAMPLE PACKAGES

100%

实机编译验证BUILD-VERIFIED

Multi-Platform Core

一核多栖 · 掌心级算力One Core, Every Platform · Palm-Sized

75×75×48.5mm、350g 的掌心级机身，同一颗核心挂载到无人机、AMR、AGV 与巡检机器人上 —— 本站教程与 Docker 镜像在所有平台通用，学一次，处处部署。 A palm-sized 75×75×48.5 mm, 350 g core that mounts on drones, AMRs, AGVs and inspection robots — every tutorial and Docker image on this site runs unchanged across all of them. Learn once, deploy everywhere.

0~180° 核心板翻转适配异形舱体core-board rotation for irregular hulls GH1.25 抗振端子适应机载环境vibration-proof connectors DC 12~19V 宽压直上动力电池wide input, battery-ready

Launch Sequence

三分钟部署Deploy in 3 Minutes

已装好 Noetic 的机器上，四步拉起整个舰队。没装 ROS？从环境搭建第一篇开始。 Four steps to launch the whole fleet on a machine with Noetic installed. No ROS yet? Start from the first setup tutorial.

iot@edge-unit: ~/ws_romindly

# 1. 建工作空间，克隆总仓库# 1. Create the workspace, clone the main repo
mkdir -p ~/ws_romindly/src && cd ~/ws_romindly/src
git clone https://github.com/Romindly-Dev/romindly_ros1_workspace.git

# 2. vcstool 一键拉取全部仓库# 2. Pull the whole fleet with vcstool
cd ~/ws_romindly
vcs import src < src/romindly_ros1_workspace/ros1.repos

# 3. 装依赖，编译# 3. Install dependencies, build
rosdep install --from-paths src --ignore-src -r -y
catkin_make

# 4. 点火验证# 4. Ignition check
source devel/setup.bash
roslaunch urdf_demo display.launch
# ✓ RViz 弹出蓝色差速小车 —— 舰队就绪# ✓ RViz shows the blue diff-drive robot — fleet ready

Carrier Vehicle

推荐载具 · Romindly MindRecommended Carrier · Romindly Mind

本教程系列的原生运行平台：Romindly Mind 机器人 / 无人机微型工控机（Micro IPC）。x86_64 架构与本站教程环境完全一致 —— 教程里跑通的，装上就能跑。 The native platform of this tutorial series: Romindly Mind, a micro IPC built for robots and drones. Same x86_64 architecture as every tutorial on this site — what works here, works on it out of the box.

MIND X86 · UAV ONBOARD COMPUTER · ROBOT IPC

75×75×48.5mm 整机mm FULL UNIT

350 g整机重量WEIGHT

68×68×26mm 核心板 168gmm CORE 168g

掌心级PALM-SIZE机载/嵌入两相宜ONBOARD / EMBEDDED

CPUIntel N150 / N300 / i3-N305

内存/存储MEM/STORAGELPDDR5 8/16GB · eMMC 128GB + M.2 NVMe

机器人 I/OROBOT I/OCAN · UART×4 · GPIO · PWM · SMBus

LAN / USB双 2.5G 网口 · 3× Type-C 10GbpsDual 2.5G LAN · 3× Type-C 10Gbps

显示/无线DISPLAY/RF三路 4K@60Hz · WiFi 6 · BT 5.2Triple 4K@60Hz · WiFi 6 · BT 5.2

形态FORM75×75×48.5mm · 350g · 抗振 GH1.25 端子75×75×48.5mm · 350g · vibration-proof GH1.25

配置Tier	建议任务Suggested workload	对应章节Sectors
N150	2D 建图 / AMCL 定位 / 导航2D SLAM / AMCL / navigation	00–40
N300	多传感器融合 + 完整导航栈Sensor fusion + full nav stack	00–45
i3-N305	3D 激光 SLAM（LIO-SAM / FAST-LIO）3D LiDAR SLAM (LIO-SAM / FAST-LIO)	全部All

⟡ 查看产品 / 购买View Product / Buy 更多硬件 →More hardware →

为机器人而生的接口布局：CAN 总线直连底盘、UART×4 接 IMU/GPS/外设、双 2.5G 网口一口激光雷达一口车间网络；核心板可 0~180° 翻转适配异形舱体，也可单板独立运行。 I/O designed for robots: CAN bus straight to the chassis, UART×4 for IMU/GPS/peripherals, dual 2.5G LAN — one for the LiDAR, one for the shop-floor network. The core board rotates 0–180° to fit irregular enclosures and can run standalone.

ROS1 定位 · 导航
开源教学舰队 ROS1 Localization · Navigation
Open-Source Teaching Fleet

一核多栖 · 掌心级算力One Core, Every Platform · Palm-Sized

学习路线Learning Route

环境搭建Environment Setup

ROS1 基础ROS1 Basics

仿真入门Simulation Primer

2D 建图2D Mapping

定位Localization

导航Navigation

3D 激光 SLAM3D LiDAR SLAM

传感器驱动Sensor Drivers

部署运维Deployment & Ops

三分钟部署Deploy in 3 Minutes

推荐载具 · Romindly MindRecommended Carrier · Romindly Mind

仓库矩阵Fleet Matrix