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6.5.3 AGV Mapping and Navigation

Last Version: 19/09/2025

Watch SpacemiT Official Video

Overview​

This demo showcases how the SpacemiT K1 chip drives a small car to perform mapping and navigation, covering core capabilities such as SLAM (Simultaneous Localization and Mapping), path planning, and obstacle avoidance.

Supported Platforms​

  • Hardware: Any development board based on the SpacemiT K1 chip (e.g., Muse Book, Muse Pi, Muse Pi Pro, BPi, etc.).
  • Operating System: Recommended version is Bianbu OS 2.0 or higher.
  • ROS System: ROS 2 Humble.

System Modules​

The system relies on the following modules working together to achieve mapping and navigation:

  • LiDAR Module。

    • Scans the surroundings and provides real-time laser data for the mapping and navigation modules, enabling accurate localization and map construction.

  • Chassis Module (Wheeltec ROS Education Car)

    • Publishes real-time status updates of the robot’s chassis for use by the mapping and navigation modules.
    • Receives movement commands from the control module and converts them into motor control signals to follow the planned path.

  • Mapping Module

    • Combines LiDAR data and chassis information to build and update the robot’s environment map in real time.
    • Continuously improves the map for a more accurate environmental model.

  • Navigation Module

    • Uses the built map, along with LiDAR and chassis data, to calculate the optimal path from the current location to the target.
    • Ensures the robot navigates smoothly to the desired destination.

  • Obstacle Detection Module

    • Uses LiDAR to monitor the surroundings and detect potential obstacles in real time.
    • Provides feedback to enable obstacle avoidance, ensuring safe operation in complex environments.

  • Control Module（Muse Pi Development Board）

    • Receives path information from the navigation module and controls the robot’s precise movements.
    • Converts high-level commands into control signals to drive the chassis motors.

Environment Setup​

Refer to Section 6.1.2 to set up the ROS 2 environment on the Muse Pi development board.

Compiling Drivers and ROS Packages​

Step 1: Configure the CH343 (CP9102) Driver​

Sensors such as LiDAR can be connected to the Muse Pi board via a USB-to-serial adapter, enabling data exchange between the sensor and the board.。

  • Download the Source Code:

    git clone https://github.com/WCHSoftGroup/ch343ser_linux.git

  • Compile and Install:

    cd ch343ser_linux/driver
    sudo make install

Step 2: Compile the LiDAR Driver​

  • Download the Driver Source: YDLidar-SDK.tar.gz

  • Extract the Files:

    mkdir -p ~/ros2_humble_space
    tar -zxvf YDLidar-SDK.tar.gz -C ~/ros2_humble_space

  • Compile and Install:

    cd ~/ros2_humble_space/YDLidar-SDK
    mkdir build && cd  build
    cmake ..
    cmake --build .
    cmake --install .

Step 3: Compile Mapping and Navigation Packages​

  • Download ROS Package Source:

    k1_origin_src.tar.gz。

  • Extract the Source Code into workspace:

    mkdir -p ~/ros2_humble_space/k1_origin_ws
    tar -zxvf k1_origin_src.tar.gz -C ~/ros2_humble_space/k1_origin_ws

Compile the serial_ros2 Package​

serial_ros2 is a ROS 2 driver package for serial communication, enabling data exchange with external hardware connected via UART (sensors, actuators, control boards, etc.).

Compile and Install:

cd ~/ros2_humble_space/k1_origin_ws/src/originbot_driver/serial_ros2
make && sudo make install
make clean

Compile the qpOASES Package​

The qpOASES package is a library for solving quadratic programming (QP) problems.

Compile and Install:

cd ~/ros2_humble_space/k1_origin_ws/src/originbot_driver/qpOASES
mkdir build && cd build
cmake ..
make && sudo make install
cd .. && rm -r build/

Step 4: Compile All Packages​

  • Activate the ROS Environment:

    source ~/ros2_humble_space/ros2_humble/setup.zsh
    source ~/ros2_humble_space/ros2_humble_extra/local_setup.zsh

  • Execute the colcon command to compile all packages in the workspace:

    cd ~/ros2_humble_space/k1_origin_ws/
    colcon build

Compiling Source Code​

On K1 Board​

  • Install ROS Dependencies:

    sudo apt install -y ros-dev-tools ros-humble-ros-base \
    python3-numpy 'ros-humble-cartographer*' 'ros-humble-nav*' libpcap0.8-dev libuvc-dev \
    ros-humble-filters ros-humble-turtlesim ros-humble-camera-info-manager ros-humble-pcl-ros \
    ros-humble-image-common ros-humble-image-geometry ros-humble-robot-localization \
    ros-humble-joint-state-publisher

  • Download Source Code Package:

    src_k1.tar.gz

  • Extract and Compile:

    mkdir -p ~/wheeltec_ws
    tar -zxvf src_k1.tar.gz -C ~/wheeltec_ws
    cd ~/wheeltec_ws/src
    colcon build

  • Configure serial port rules Update udev rules according to your device IDs:

    udevadm info --query=all --name=/dev/ttyCH343USB1
    echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", ATTRS{serial}=="0002", MODE:="0777", SYMLINK+="wheeltec_controller"' > /etc/udev/rules.d/wheeltec_controller2.rules

    # CH9102 Serial-Port Setup (ensure the CH9102 driver is installed), device index `0001` is given the alias wheeltec_lidar
    echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", ATTRS{serial}=="0001", MODE:="0777", SYMLINK+="wheeltec_lidar"' > /etc/udev/rules.d/wheeltec_lidar2.rules

    sudo udevadm control --reload-rules
    sudo udevadm trigger

On PC​

  • Install ROS dependencies

    sudo apt install -y ros-dev-tools ros-humble-ros-base \
    python3-numpy 'ros-humble-cartographer*' 'ros-humble-nav*' libpcap0.8-dev libuvc-dev \
    ros-humble-filters ros-humble-turtlesim ros-humble-camera-info-manager ros-humble-pcl-ros \
    ros-humble-image-common ros-humble-image-geometry ros-humble-robot-localization \
    ros-humble-joint-state-publisher

  • Download Source Code Package:

    src_pc.tar.gz

  • Extract and Compile:

    mkdir -p ~/wheeltec_ws
    tar -zxvf src_k1.tar.gz -C ~/wheeltec_ws
    cd ~/wheeltec_ws/src
    colcon build

Launch Commands​

Simultaneous Mapping & Navigation​

  • PC Side: Launch Visualization:

    ros2 launch wheeltec_rviz2 wheeltec_rviz.launch.py

  • K1 Side: Start Mapping and Navigation:

    ros2 launch wheeltec_nav2 wheeltec_nav2_for_slam.launch.py

Run Mapping and Navigation Separately​

  • PC Side: Launch Visualization:

    ros2 launch originbot_viz display_slam.launch.py

Mapping​

  • On the Muse Pi board, run one of the following commands:

    • Using slam_gmapping:

      ros2 launch slam_gmapping slam_gmapping.launch.py

    • Using cartographer:

      ros2 launch wheeltec_cartographer cartographer.launch.py

  • Save the Map:

    ros2 run nav2_map_server map_saver_cli -f spacemit1

  • First, disable the mapping function.

  • PC Side: Launch Visualization:

    ros2 launch wheeltec_rviz2 wheeltec_rviz.launch.py

  • Muse Pi: After replacing the map, rebuild with colcon build, then start navigation:

    ros2 launch wheeltec_nav2 wheeltec_nav2.launch.py