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ROBOT
A holonomic mecanum-drive platform that can move in any direction. In active development.
UPDATED 2026-10-14 · SOURCE project notes (brief §0) · branch AMR4
IN DEVELOPMENT
Fig. 1 AMR4, top view.
Four special wheels with angled rollers, a lidar and an onboard computer. AMR4 is still in development, so this shows the design, not finished results.
FROM PROJECT NOTESSource brief:§0
AMR4 rolls on four mecanum wheels, carries an RPLidar A1 on USB and runs ROS 2 Humble on an NVIDIA Jetson Orin Nano.
Source brief:§0
| Status | In development |
|---|---|
| Drive | 4-wheel mecanum (holonomic) |
| Chassis | 0.52 × 0.63 m |
| Max speed | 1.0 m/s (design max) |
| Compute | NVIDIA Jetson Orin Nano |
| OS / ROS 2 | Ubuntu 22.04 · ROS 2 Humble |
| LiDAR | RPLidar A1 (USB), range 0.15–12 m |
| Camera | absent in this branch |
| Software | Custom motor driver + mecanum odometry |
| Code branch | AMR4 |
Fig. 2 AMR4 specifications.
What AMR4 is built from today. "Absent" means the item isn't part of this robot yet, for example a camera.
FROM PROJECT NOTESSource brief:§0
The 1.0 m/s top speed is a design maximum, not a measured result.
Source brief:§0
Fig. 3 Moving in any direction.
Mecanum wheels let a robot move in any direction, including straight sideways, without steering. This is a generic drawing of holonomic drive, not a measured AMR4 result. (Illustration.)
FROM PROJECT NOTESSource generic mecanum kinematics (illustrative)
Source generic mecanum kinematics (illustrative)
Fig. 4 AMR4 software, layer by layer.
Only the motor driver and the wheel odometry are confirmed so far. The empty, dashed boxes are deliberate; they show what isn't built or confirmed yet.
PENDING CODE REVIEWSource brief:§0
Node and topic names are pending code review, so they are not shown.
Source brief:§0
The code lives on the AMR4 branch of a private repository. A public link will appear here once the repository is opened.
Source github.com/amey1942007/Ros_lidar_bot @ AMR4