Real Deployment
ROS2 Deployment
Deploy perception, mapping, and autonomous navigation on a real LeKiwi robot using an AMD-only ROCm and ROS2 stack.
Goals
- Generate stereo depth with RAFT-Stereo on ROCm
- Build and localize against RTAB-Map maps
- Explore autonomously with frontier planning
- Navigate with Nav2 and execute color-directed tasks
LeKiwi Navigation
What this section covers
Build a map first, then progress from click-to-go to task-driven autonomy.
ROS01 — Manual Mapping
Drive manually, generate depth, build a map, and detect colored blocks.
ROS02 — Autonomous Exploration
Find frontiers and map the environment autonomously.
ROS03 — Click Navigation
Localize with RTAB-Map and send Nav2 goals from RViz.
ROS04 — Color Navigation
Name a color and drive to the corresponding block.
Return to the Physical AI overview.