RC car with ROS

Project attribution: Project done solo.
Source: The project’s files are available here.
Short description: ROS architecture with SPI back-end for RC car.
Technologies: ROS, SPI, C++, Raspberry Pi, BeagleBone
What I did: I designed the ROS2 architecture and deployed it on a Raspberry Pi to control the car’s throttle and steering with SPI. I also processed ultrasonic sensor information.

The RC car controlled from my laptop via WiFi.
The RC car steering from my laptop via WiFi. The WiFi is the cause of the long delay.
The RC car moving and turning at slow speeds.
The RC car on which I deployed ROS.
Closeup of the running RC car. The blue-lit Raspberry Pi is the one running the ROS2 system, so it is the controlling board.

ROS

ROS2 architecture for the RC car.