Linorobot

Preserve software and firmware as separate revisions

The ROS packages and microcontroller firmware live in different repositories. The main overview still mentions Teensy, but the separately preserved firmware guide says Teensy was removed from Jazzy and Lyrical, with its remaining Humble branch unsupported. The firmware guide lists Jazzy with Ubuntu 24.04 and Lyrical with Ubuntu 26.04. Match the ROS branch, firmware branch and board target rather than following an old Teensy recipe against a newer firmware checkout. [S001] [S009] [S011]

For the selected ESP32 route, the firmware handles motor control and publishes encoder odometry and IMU data through micro-ROS. The ROS computer fuses those measurements and runs the higher-level stack. The installation guide requires robot software on the workstation used to build the firmware; the onboard-computer configuration also needs it on the robot. [S005] [S009]

A supported drive type is not a complete parts list

A two-wheel build still needs a chosen chassis, encoder-equipped motors, compatible drivers, power components and sensors. The reviewed documentation supplies reference wiring and configurable robot descriptions, but this review has not reconciled a complete procurement list or current delivered price for one manufactured chassis. Choose and record those parts before assigning a budget or copying geometry values. [S004] [S009]

The firmware distinguishes two-wheel differential drive, four-wheel skid-steer and mecanum kinematics. Its example motor, encoder and wheel constants are configuration inputs. They are not measurements of the robot on your bench. [S009]

Establish reliable odometry before mapping

Upstream calibration instructions require the robot to be elevated with its wheels clear of the ground. Check motor direction and encoder sign, then establish counts per revolution, wheel diameter and wheel separation for the actual assembly. The guide also explains limiting commanded speed below the motor maximum so the speed controller retains room to correct errors. [S009]

An IMU requires its own orientation and configuration checks; the firmware guide explicitly allows initial testing without one and warns that a misconfigured IMU can break navigation. Verify the base measurements and transforms before interpreting a distorted map as a planner problem. This sequence is an editorial synthesis of the calibration and ROS setup documentation, not a reproduction result. [S007] [S008] [S009]

The main repository and separately preserved firmware carry Apache-2.0 licenses. Their robot-description templates and reference diagrams do not establish complete manufacturing source for every purchased motor, driver or sensor. No firmware compilation, installation, hardware calibration or navigation run was performed in this review. [S003] [S010]