├── .gitignore ├── 3dparts ├── ISOThread.scad ├── busmux.scad ├── busmux.stl ├── encoder_01.scad ├── motorchassis_01.png ├── motorchassis_01.scad ├── motorchassis_01.stl ├── motorchassis_02.scad ├── motorchassis_02.stl ├── nextgen_01.png ├── nextgen_01.scad └── nextgen_01_unten.png ├── README.md ├── ROS2Mower.workspace ├── avr ├── BlinkPB2 │ ├── Makefile │ └── main.c ├── DCMotorControl │ ├── Makefile │ ├── config.h │ ├── i2c.c │ ├── i2c.h │ ├── i2c.o │ ├── iocompat.h │ ├── l │ │ ├── Makefile │ │ ├── main.elf │ │ └── main.hex │ ├── main.c │ ├── main.o │ ├── pid.c │ ├── pid.h │ ├── pid.o │ └── r │ │ ├── Makefile │ │ ├── main.elf │ │ └── main.hex ├── DualDCMotorControl │ ├── Makefile │ ├── pid.c │ └── pid.h ├── IMUNode │ ├── Makefile │ └── main.c ├── PowerSupply │ ├── PowerSupply.ino │ ├── PowerSupply.ino.tiny14.hex │ ├── config.h │ ├── i2c.cpp │ ├── i2c.h │ ├── pm.cpp │ └── pm.h ├── PowerSupply2 │ ├── Makefile │ ├── config.h │ ├── main.c │ ├── pm.c │ └── pm.h ├── RPIRelaisBoard │ ├── Makefile │ └── main.cpp ├── WaveShareI2CtoSPI │ ├── Makefile │ ├── i2c.c │ ├── i2c.h │ ├── i2c.o │ ├── main.c │ ├── main.elf │ ├── main.hex │ └── main.o ├── lib │ ├── i2c.c │ ├── i2c.h │ ├── i2c_tws.c │ ├── uart_printf.c │ └── uart_printf.h └── main.c ├── boot_ros2mower.sh ├── esp32 ├── .gitignore └── ros2node │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── Makefile │ ├── README.md │ ├── components │ ├── .gitignore │ ├── ESP32_VL53L0X │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── VL53L0X.h │ │ ├── component.mk │ │ ├── core │ │ │ ├── inc │ │ │ │ ├── vl53l0x_api.h │ │ │ │ ├── vl53l0x_api_calibration.h │ │ │ │ ├── vl53l0x_api_core.h │ │ │ │ ├── vl53l0x_api_ranging.h │ │ │ │ ├── vl53l0x_api_strings.h │ │ │ │ ├── vl53l0x_def.h │ │ │ │ ├── vl53l0x_device.h │ │ │ │ ├── vl53l0x_interrupt_threshold_settings.h │ │ │ │ └── vl53l0x_tuning.h │ │ │ └── src │ │ │ │ ├── vl53l0x_api.c │ │ │ │ ├── vl53l0x_api_calibration.c │ │ │ │ ├── vl53l0x_api_core.c │ │ │ │ ├── vl53l0x_api_ranging.c │ │ │ │ └── vl53l0x_api_strings.c │ │ └── platform │ │ │ ├── inc │ │ │ ├── vl53l0x_platform.h │ │ │ ├── vl53l0x_platform_log.h │ │ │ └── vl53l0x_types.h │ │ │ └── src │ │ │ ├── vl53l0x_platform.c │ │ │ └── vl53l0x_platform_log.c │ ├── camera │ │ ├── CMakeLists.txt │ │ ├── Kconfig.projbuild │ │ ├── bitmap.c │ │ ├── camera.c │ │ ├── camera_common.h │ │ ├── component.mk │ │ ├── include │ │ │ ├── bitmap.h │ │ │ └── camera.h │ │ ├── ov2640.c │ │ ├── ov2640.h │ │ ├── ov2640_regs.h │ │ ├── ov7725.c │ │ ├── ov7725.h │ │ ├── ov7725_regs.h │ │ ├── sccb.c │ │ ├── sccb.h │ │ ├── sensor.h │ │ ├── twi.c │ │ ├── twi.h │ │ ├── wiring.c │ │ ├── wiring.h │ │ ├── xclk.c │ │ └── xclk.h │ ├── esp32-bno055 │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── component.mk │ │ ├── examples │ │ │ └── hello_bno055 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Makefile │ │ │ │ └── main │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── component.mk │ │ │ │ └── main.cpp │ │ └── src │ │ │ ├── BNO055ESP32.cpp │ │ │ └── BNO055ESP32.h │ ├── http_server │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── component.mk │ │ ├── my_http_server.c │ │ └── my_http_server.h │ ├── micro_ros_espidf_component__colcon.meta │ ├── micro_ros_espidf_component__libmicroros.mk │ ├── ota_server │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── Makefile.example │ │ ├── README.md │ │ ├── component.mk │ │ ├── include │ │ │ └── ota_server.h │ │ └── ota_server.c │ ├── quirc │ │ ├── component.mk │ │ ├── decode.c │ │ ├── identify.c │ │ ├── quirc.c │ │ ├── quirc.h │ │ ├── quirc_internal.h │ │ └── version_db.c │ ├── ss1306 │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── Kconfig │ │ ├── LICENSE │ │ ├── README.md │ │ ├── component.mk │ │ ├── fonts │ │ │ ├── LICENSE-apache │ │ │ ├── LICENSE-liberation-mono │ │ │ ├── font_droid_sans_fallback_11x13.c │ │ │ ├── font_droid_sans_fallback_15x17.c │ │ │ ├── font_droid_sans_fallback_24x28.c │ │ │ ├── font_droid_sans_mono_13x24.c │ │ │ ├── font_droid_sans_mono_16x31.c │ │ │ ├── font_droid_sans_mono_7x13.c │ │ │ ├── font_liberation_mono_13x21.c │ │ │ ├── font_liberation_mono_17x30.c │ │ │ ├── font_liberation_mono_9x15.c │ │ │ ├── font_tarable7seg_16x32.c │ │ │ └── font_tarable7seg_32x64.c │ │ ├── ifaces │ │ │ ├── default_if_i2c.c │ │ │ └── default_if_spi.c │ │ ├── ssd1306.c │ │ ├── ssd1306.h │ │ ├── ssd1306_default_if.h │ │ ├── ssd1306_draw.c │ │ ├── ssd1306_draw.h │ │ ├── ssd1306_err.h │ │ ├── ssd1306_font.c │ │ └── ssd1306_font.h │ ├── vl53l1x │ │ ├── CMakeLists.txt │ │ ├── LICENSE.txt │ │ ├── README.md │ │ ├── VL53L1X.cpp │ │ ├── VL53L1X.h │ │ └── component.mk │ └── websocket │ │ ├── CMakeLists.txt │ │ ├── Kconfig │ │ ├── README.md │ │ ├── component.mk │ │ ├── include │ │ ├── websocket.h │ │ └── websocket_server.h │ │ ├── websocket.c │ │ └── websocket_server.c │ ├── main │ ├── CMakeLists.txt │ ├── Kconfig.projbuild │ ├── app_main.cpp │ ├── cam.cpp │ ├── cam.h │ ├── component.mk │ ├── console.cpp │ ├── console.h │ ├── font8x8_basic.h │ ├── gps.cpp │ ├── gps.h │ ├── hwconfig.h │ ├── i2chandler.cpp │ ├── i2chandler.h │ ├── qr_recoginize.c │ ├── qr_recoginize.h │ ├── ros2node.cpp │ ├── ros2node.h │ ├── server │ │ ├── CMakeLists.txt │ │ ├── Chart.min.css │ │ ├── Chart.min.js │ │ ├── ccchart.js │ │ ├── error.html │ │ ├── favicon.ico │ │ ├── root.html │ │ ├── test.css │ │ └── test.js │ ├── sh1106.h │ ├── ulp-util.c │ ├── ulp-util.h │ ├── ulp │ │ └── blink.S │ ├── webui.cpp │ └── webui.h │ ├── partitions.csv │ ├── sdkconfig.mower │ ├── sdkconfig.s2 │ └── sdkconfig.zumo ├── hw ├── .gitignore ├── con-amp-micromatch.lbr ├── esp32_module.brd ├── esp32_module.pdf ├── esp32_module.sch ├── esp32_module.zip ├── esp32_module_bot.pdf ├── esp32_module_top.pdf ├── esp32_pwr.sch ├── imu_node.brd ├── imu_node.sch ├── lidar_node.brd ├── lidar_node.pdf ├── lidar_node.sch ├── lidar_node_bot.pdf ├── lidar_node_top.pdf ├── main_node.brd ├── main_node.sch ├── motor_bot.pdf ├── motor_node.brd ├── motor_node.pdf ├── motor_node.sch ├── motor_node.txt ├── motor_node_bot.pdf ├── motor_node_top.pdf ├── nutzen_01.brd ├── nutzen_02.brd ├── nutzen_03.brd ├── nutzen_03.sch ├── nutzen_04.brd ├── nutzen_04_mil.brd ├── nutzen_04_mil.zip ├── nutzen_05.brd ├── nutzen_05_mil.brd ├── nutzen_05_mil.zip ├── nutzen_06.brd ├── nutzen_06.zip ├── relais_node_01.brd ├── relais_node_01.pdf ├── relais_node_01.sch ├── relais_node_01.zip ├── relais_node_01_bot.pdf ├── relais_node_01_top.pdf ├── rf_node.brd ├── rf_node.pdf ├── rf_node.sch ├── rf_node_bot.pdf ├── rf_node_top.pdf ├── rpi_pwrspl.brd ├── rpi_pwrspl.sch ├── rpi_pwrspl_02.brd ├── rpi_pwrspl_02.pro ├── rpi_pwrspl_02.sch ├── spi_cam.sch ├── spi_node.brd ├── spi_node.pdf ├── spi_node.sch ├── spi_node_bot.pdf ├── spi_node_top.pdf ├── split_node.brd ├── split_node.sch ├── split_node_02.brd ├── split_node_02.sch ├── stm32g071_pcb.brd ├── stm32g071_pcb.pdf ├── stm32g071_pcb.sch ├── stm32g071_pcb_bot.pdf ├── stm32g071_pcb_top.pdf ├── uni_node.brd ├── uni_node.pdf ├── uni_node.sch ├── uni_node_02.brd ├── uni_node_02.pdf ├── uni_node_02.sch ├── uni_node_02_bot.pdf ├── uni_node_02_top.pdf ├── uni_node_bot.pdf └── uni_node_top.pdf ├── images ├── architecture_01.odp ├── architecture_01.png ├── ro2mower_01.jpg └── ros2mower_01.jpg ├── ros2_ws ├── .gitignore ├── b.sh ├── r.sh └── src │ ├── r2m_map_server │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── r2m_map_server.cpp │ ├── r2m_robot_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ └── r2m_robot.rviz │ ├── launch │ │ ├── r2m_robot_bringup.launch.py │ │ └── single_rrbot.urdf │ └── package.xml │ └── r2m_sensors │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── src │ ├── epd │ │ ├── DEV_Config.c │ │ ├── DEV_Config.h │ │ ├── Debug.h │ │ ├── EPD_1in54.c │ │ ├── EPD_1in54.h │ │ ├── EPD_1in54_V2.c │ │ ├── EPD_1in54_V2.h │ │ ├── GUI_BMPfile.c │ │ ├── GUI_BMPfile.h │ │ ├── GUI_Paint.c │ │ ├── GUI_Paint.h │ │ ├── GUI_Paint.h~ │ │ ├── Makefile │ │ ├── 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