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

Dependencies

• ROS (recommended iron)

Package Overview

This workspace includes the following packages:

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_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_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

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

Installation

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

mkdir -p ~/workspace/src
cd ~/workspace/src

Use Git to download the workspace from the repository:

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

Screenshots

MCQueen Description

Rviz2 Visualization

MCQueen HW

Foxglove Visualization

MCQueen Teleop

Dashboard

Voice Assistant

Control Interface

Distance Monitor

Control Buzzer

Control Screen

Control Headlight