RaspRover

Monorepo for the Waveshare RaspRover mobile robot platform.

Repository layout

firmware/   ESP32 DevKit-C embedded firmware (Rust, no_std + Embassy)
robot/      ROS 2 workspace for the Raspberry Pi host (Lyrical Luth)
data/       Mechanical CAD and reference documents

The ESP32 ROS Driver Board handles low-level motor control, IMU, display, and WiFi. The Raspberry Pi runs the ROS 2 stack for navigation, perception, and simulation.

Prerequisites

Install pixi and rustup, then clone the repo:

git clone https://github.com/rosterloh/rasprover-rs
cd rasprover-rs

The two environments are managed independently — install only what you need.

Firmware (ESP32)

The firmware uses the Espressif esp Xtensa toolchain, which lives outside pixi. Install it once:

pixi run -e firmware setup-toolchain
source ~/export-esp.sh

Configure WiFi credentials (optional — defaults are set in firmware/.cargo/config.toml):

export CONFIG_WIFI_NETWORK="your-ssid"
export CONFIG_WIFI_PASSWORD="your-password"

Task	Command
Install environment	pixi install -e firmware
Build	pixi run -e firmware build
Build & flash	pixi run -e firmware flash
Serial monitor	pixi run -e firmware monitor
Save binary image	pixi run -e firmware firmware-image
Erase flash	pixi run -e firmware erase
Binary size stats	pixi run -e firmware stats

Logs stream over RTT. Level is controlled by DEFMT_LOG (default: info).

Firmware modules

Module	Description
board	Shared I2C bus and peripheral initialisation
display	SSD1306 OLED via I2C
imu	MPU-6050 with Kalman / Mahony filter
motors	PWM motor control via LEDC
network	WiFi station + DHCP, OTA updates

Robot (ROS 2)

The ROS 2 workspace uses RoboStack Lyrical via pixi.

pixi install -e ros
pixi run -e ros build       # first build (also generates robot/install/setup.sh)

The ros environment activation sources robot/install/setup.sh, which is generated by colcon. Run build once before opening a pixi shell -e ros.

Task	Command
Install environment	pixi install -e ros
Build workspace	pixi run -e ros build
Clean workspace	pixi run -e ros clean
Run on hardware	pixi run -e ros start
Run simulation	pixi run -e ros simulation
Run Gazebo	pixi run -e ros gazebo
Open RViz	pixi run -e ros rviz

ROS packages

Package	Description
rasprover_bringup	Launch files for hardware and simulation
rasprover_description	URDF, meshes, and RViz config
rasprover_gz	Gazebo simulation integration

Links

• Waveshare RaspRover Wiki
• Rust on ESP Book
• Embassy Book
• Embedded Rust Book
• RoboStack
• pixi