https://github.com/halilsenaydin/mcqueen

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.
https://github.com/halilsenaydin/mcqueen

ackermann-steering-controller flask mcqueen paho-mqtt robot-description ros2-control ros2-jazzy voice-assistant

Last synced: 9 months ago
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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.

• Host: GitHub
• URL: https://github.com/halilsenaydin/mcqueen
• Owner: halilsenaydin
• Created: 2025-06-11T17:09:59.000Z (12 months ago)
• Default Branch: master
• Last Pushed: 2025-06-20T16:21:49.000Z (12 months ago)
• Last Synced: 2025-07-02T02:08:32.139Z (11 months ago)
• Topics: ackermann-steering-controller, flask, mcqueen, paho-mqtt, robot-description, ros2-control, ros2-jazzy, voice-assistant
• Language: C++
• Homepage:
• Size: 14.3 MB
• Stars: 2
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# McQueen ROS 2 Workspace

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.

## Author

**Halil İbrahim ŞENAYDIN**  

E-mail: halilsenaydin@gmail.com  

GitHub: [github.com/halilsenaydin](https://github.com/halilsenaydin)

## Dependencies

- ROS (recommended [iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debs.html))

## Package Overview

This workspace includes the following packages:

### [mcqueen_hw](./mcqueen_hw)

Hardware abstraction and control package. Provides modular interfaces and concrete implementations for various sensors, actuators, and communication methods.

- **Interfaces (abstract/):**  

  `IBuzzer`, `ICommDevice`, `IController`, `IDistanceSensor`, `IScreen`, `ISpeechRecognizer`

- **Implementations (concrete/):**

  - Buzzers: `ActiveBuzzer`, `PassiveBuzzer`, `MqttBuzzer`

  - Communication: `BluetoothComm`, `BluwtoothAudioComm`, `MqttComm`, `SerialComm`

  - Controllers: `PIDController`

  - Screens: `MqttNextionScreen`

  - Sensors: `HCSR04Sensor`, `MqttDistanceSensor`

  - Speech Recognizers: `WhisperSpeechRecognizer`

- **ROS Nodes (nodes/):**  

  Services and publishers for sensors and actuators:  

  `buzzer_service`, `screen_service`, `distance_publisher`, `motor_controller`

- **System (system/):**  

  ROS 2 hardware integration via `mcqueen_system.h` with `ros2_control`.

[See mcqueen_hw README](./mcqueen_hw/README.md)

### [mcqueen_teleop](./mcqueen_teleop)

Provides 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.).

- Publishes `geometry_msgs/Twist` to `/cmd_vel`

- Voice command interface using `spaCy` and microphone input (SSL required)

- MQTT communication support

- Simple HTTP-based service endpoints

[See mcqueen_teleop README](./mcqueen_teleop/README.md)

### [mcqueen_description](./mcqueen_description)

Contains the URDF model of the McQueen robot and associated launch files.

- URDF/Xacro descriptions of robot

- `robot_state_publisher` and `joint_state_publisher` integration

- Launch file to visualize the robot in RViz

[See mcqueen_description README](./mcqueen_description/README.md)

### [custom_interfaces](./custom_interfaces)

Custom ROS 2 interface definitions used across the workspace.

- Custom service definitions (`Screen`, `Buzzer`, etc.)

- Custom message types for extended robot communication

[See custom_interfaces README](./custom_interfaces/README.md)

## Installation

Start by creating a new ROS 2 workspace if you don't already have one:

```bash

mkdir -p ~/workspace/src

cd ~/workspace/src

```

Use Git to download the workspace from the repository:

```bash

git clone https://github.com/halilsenaydin/mcqueen

```

## Screenshots

### MCQueen Description

#### Rviz2 Visualization

![Rviz2 Visualization](mcqueen_description/docs/img/rviz2.png)

### MCQueen HW

#### Foxglove Visualization

![Foxglove Visualization](mcqueen_hw/docs/img/foxglove.png)

### MCQueen Teleop

#### Dashboard

![Dashboard](mcqueen_teleop/docs/img/1.png)

#### Voice Assistant

![Voice Assistant](mcqueen_teleop/docs/img/2.png)

#### Control Interface

![Control Interface 1](mcqueen_teleop/docs/img/3.png)

![Control Interface 2](mcqueen_teleop/docs/img/4.png)

#### Distance Monitor

![Distance Monitor](mcqueen_teleop/docs/img/5.png)

#### Control Buzzer

![Control Buzzer](mcqueen_teleop/docs/img/6.png)

#### Control Screen

![Control Screen](mcqueen_teleop/docs/img/7.png)

#### Control Headlight

![Control Headlight](mcqueen_teleop/docs/img/8.png)