{"id":29193193,"url":"https://github.com/halilsenaydin/mcqueen","last_synced_at":"2025-09-01T03:14:00.196Z","repository":{"id":300094277,"uuid":"1000368763","full_name":"halilsenaydin/mcqueen","owner":"halilsenaydin","description":"This workspace is a complete ROS 2-based project for controlling a mobile robot platform (\"McQueen\") with support for web-based teleoperation, sensor-actuator integration, and voice assistant capabilities.","archived":false,"fork":false,"pushed_at":"2025-06-20T16:21:49.000Z","size":15018,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"master","last_synced_at":"2025-07-02T02:08:32.139Z","etag":null,"topics":["ackermann-steering-controller","flask","mcqueen","paho-mqtt","robot-description","ros2-control","ros2-jazzy","voice-assistant"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/halilsenaydin.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-06-11T17:09:59.000Z","updated_at":"2025-06-19T19:34:08.000Z","dependencies_parsed_at":"2025-06-19T21:37:41.150Z","dependency_job_id":null,"html_url":"https://github.com/halilsenaydin/mcqueen","commit_stats":null,"previous_names":["halilsenaydin/mcqueen"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/halilsenaydin/mcqueen","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/halilsenaydin%2Fmcqueen","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/halilsenaydin%2Fmcqueen/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/halilsenaydin%2Fmcqueen/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/halilsenaydin%2Fmcqueen/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/halilsenaydin","download_url":"https://codeload.github.com/halilsenaydin/mcqueen/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/halilsenaydin%2Fmcqueen/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273068853,"owners_count":25039911,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-01T02:00:09.058Z","response_time":120,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ackermann-steering-controller","flask","mcqueen","paho-mqtt","robot-description","ros2-control","ros2-jazzy","voice-assistant"],"created_at":"2025-07-02T02:08:32.255Z","updated_at":"2025-09-01T03:14:00.176Z","avatar_url":"https://github.com/halilsenaydin.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# McQueen ROS 2 Workspace\n\nThis workspace is a complete ROS 2-based project for controlling a mobile robot platform (\"McQueen\") with support for web-based teleoperation, sensor-actuator integration, and voice assistant capabilities.\n\n## Author\n\n**Halil İbrahim ŞENAYDIN**  \nE-mail: halilsenaydin@gmail.com  \nGitHub: [github.com/halilsenaydin](https://github.com/halilsenaydin)\n\n## Dependencies\n\n- ROS (recommended [iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debs.html))\n\n## Package Overview\n\nThis workspace includes the following packages:\n\n### [mcqueen_hw](./mcqueen_hw)\n\nHardware abstraction and control package. Provides modular interfaces and concrete implementations for various sensors, actuators, and communication methods.\n\n- **Interfaces (abstract/):**  \n  `IBuzzer`, `ICommDevice`, `IController`, `IDistanceSensor`, `IScreen`, `ISpeechRecognizer`\n\n- **Implementations (concrete/):**\n\n  - Buzzers: `ActiveBuzzer`, `PassiveBuzzer`, `MqttBuzzer`\n  - Communication: `BluetoothComm`, `BluwtoothAudioComm`, `MqttComm`, `SerialComm`\n  - Controllers: `PIDController`\n  - Screens: `MqttNextionScreen`\n  - Sensors: `HCSR04Sensor`, `MqttDistanceSensor`\n  - Speech Recognizers: `WhisperSpeechRecognizer`\n\n- **ROS Nodes (nodes/):**  \n  Services and publishers for sensors and actuators:  \n  `buzzer_service`, `screen_service`, `distance_publisher`, `motor_controller`\n\n- **System (system/):**  \n  ROS 2 hardware integration via `mcqueen_system.h` with `ros2_control`.\n\n[See mcqueen_hw README](./mcqueen_hw/README.md)\n\n### [mcqueen_teleop](./mcqueen_teleop)\n\nProvides a Flask-based web interface and voice assistant integration for teleoperating the robot over a local network (Wi-Fi or LAN). Publishes velocity commands and offers service-based control for other components (buzzer, screen, etc.).\n\n- Publishes `geometry_msgs/Twist` to `/cmd_vel`\n- Voice command interface using `spaCy` and microphone input (SSL required)\n- MQTT communication support\n- Simple HTTP-based service endpoints\n\n[See mcqueen_teleop README](./mcqueen_teleop/README.md)\n\n### [mcqueen_description](./mcqueen_description)\n\nContains the URDF model of the McQueen robot and associated launch files.\n\n- URDF/Xacro descriptions of robot\n- `robot_state_publisher` and `joint_state_publisher` integration\n- Launch file to visualize the robot in RViz\n\n[See mcqueen_description README](./mcqueen_description/README.md)\n\n### [custom_interfaces](./custom_interfaces)\n\nCustom ROS 2 interface definitions used across the workspace.\n\n- Custom service definitions (`Screen`, `Buzzer`, etc.)\n- Custom message types for extended robot communication\n\n[See custom_interfaces README](./custom_interfaces/README.md)\n\n## Installation\n\nStart by creating a new ROS 2 workspace if you don't already have one:\n\n```bash\nmkdir -p ~/workspace/src\ncd ~/workspace/src\n```\n\nUse Git to download the workspace from the repository:\n\n```bash\ngit clone https://github.com/halilsenaydin/mcqueen\n```\n\n## Screenshots\n\n### MCQueen Description\n\n#### Rviz2 Visualization\n\n![Rviz2 Visualization](mcqueen_description/docs/img/rviz2.png)\n\n### MCQueen HW\n\n#### Foxglove Visualization\n\n![Foxglove Visualization](mcqueen_hw/docs/img/foxglove.png)\n\n### MCQueen Teleop\n\n#### Dashboard\n\n![Dashboard](mcqueen_teleop/docs/img/1.png)\n\n#### Voice Assistant\n\n![Voice Assistant](mcqueen_teleop/docs/img/2.png)\n\n#### Control Interface\n\n![Control Interface 1](mcqueen_teleop/docs/img/3.png)\n\n![Control Interface 2](mcqueen_teleop/docs/img/4.png)\n\n#### Distance Monitor\n\n![Distance Monitor](mcqueen_teleop/docs/img/5.png)\n\n#### Control Buzzer\n\n![Control Buzzer](mcqueen_teleop/docs/img/6.png)\n\n#### Control Screen\n\n![Control Screen](mcqueen_teleop/docs/img/7.png)\n\n#### Control Headlight\n\n![Control Headlight](mcqueen_teleop/docs/img/8.png)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhalilsenaydin%2Fmcqueen","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhalilsenaydin%2Fmcqueen","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhalilsenaydin%2Fmcqueen/lists"}