Autonomous Deep Learning Robot

A from-scratch build of a Kobuki-based mobile robot running ROS 2 Jazzy on a Raspberry Pi 5, with a 2D lidar and an Orbbec Astra depth camera. The repo collects the hardware notes, setup docs, and deep-learning experiments needed to take the platform from "box of parts" to autonomously driving around a room.

The external/ directory holds every upstream package as a pinned git submodule, so the build is reproducible end-to-end without chasing apt repos or random GitHub forks.

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System architecture

[Kobuki base]   ──USB-A↔B──┐
                            │
[RPLidar]       ──USB-A─────┼──→ [Raspberry Pi 5]
                            │           │
[Orbbec Astra]  ──USB-A─────┘           │ WiFi
                                         ▼
                                 [Workstation w/ rviz2]

Kobuki 12 V aux out → step-down → Pi 5 USB-C. Do not draw Pi power from the Kobuki USB-B port; it cannot supply 5 A.

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Getting started

Clone with submodules so the Kobuki / sensor driver sources land in external/:

git clone --recurse-submodules https://github.com/autonomous-ai/Personal-AI-Robot
# or, if you already cloned without --recurse-submodules:
git submodule update --init --recursive

Then work through the docs in order:

1. Hardware assembly and wiring
2. Pi 5: Ubuntu 24.04 install + ROS 2 Jazzy
3. Kobuki: build the ROS 2 workspace
4. RPLidar driver
5. Orbbec Astra depth camera
6. First drive: teleop and basic verification (to be updated)
7. Deep learning on Pi 5: realistic options (to be updated)
8. Troubleshooting (to be updated)

Optional add-ons:

• Remote access: Tailscale + NoMachine

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Bill of materials

Full parts list with quantities, categories, and photos: docs/bom.md.

Headline items: Kobuki mobile base, Raspberry Pi 5 (8 GB), Slamtec RPLidar, Orbbec Astra depth camera, 12 V → 5 V/5 A USB-C PD step-down. (Powered USB 3.0 hub is listed but optional — debug only.)

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Status

Tested on: Raspberry Pi 5 (8 GB), Ubuntu 24.04.3 LTS arm64, ROS 2 Jazzy Jalopy, Kobuki (firmware 1.2), Slamtec RPLidar C1, Orbbec Astra (serial 15102210050).

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Credits

• kobuki-base maintainers — keeping the Kobuki stack alive on ROS 2 (source of the external/kobuki_* submodules)
• Yujin Robot — original Kobuki hardware and ROS 1 driver
• IntelligentRoboticsLabs/kobuki — alternative ROS 2 fork worth cross-referencing
• Slamtec, Orbbec — driver SDKs