Note: Diff-Drive Base Control¶
You are probably here because the robot's base works only halfway: motors spin, but the interface is brittle, odometry is suspect, or ROS 2 control feels disconnected from the microcontroller reality.
Likely First Answer¶
Start with Diff-Drive Base Control with ros2_control and Arduino.
If the Real Problem Is...¶
- unreliable host-MCU communication: Serial Protocols Between ROS 2 and Microcontrollers
- wrong wheel scaling or turn bias: Odometry Calibration for Diff-Drive
- encoder math confusion: Encoder Odometry Math
- overall hardware contract design: ROS 2 Hardware Integration Patterns