Mini-Car Autonomous Control Using Raspberry Pi 5

Technical Specification: Autonomous Control for a Mini-Car using Raspberry Pi 5 and ROS2 1. Introduction The goal is to develop an autonomous control system for a mini-car based on the Raspberry Pi 5, using the Hiwonder Moebius STM32 controller and ROS2. The car should navigate an arena, follow a trajectory, and recognize obstacles in the form of colored objects (blocks). The solution should be implemented as a ROS2 package with the ability to launch and test the system. --- 2. Hardware Platform Below is the complete list of hardware installed on the car: Raspberry Pi 5 Hiwonder Moebius STM32 ROS2 RRC Lite Intel RealSense D455 (depth and color camera) LDROBOT LD500 LiDAR Servo motor (for front axle steering) 2 DC motors with encoders (rear axle) Li-Po battery Voltage converter --- 3. Project Tasks Task 1: Trajectory Following Arena: 3×3 meters with a central 1×1 meter square. The car should complete 3 laps between the outer and inner squares. Direction of movement is not known in advance (clockwise or counter-clockwise) — it will be determined by judges at the start. The car must determine the direction automatically. Centered movement is encouraged, but it is preferred to stay closer to the inner square to shorten the path. Task 2: Obstacle Avoidance The arena remains the same, but now colored blocks are added: Red — bypass on the right Green — bypass on the left The car must avoid obstacles and maintain its trajectory. --- 4. Code Requirements Use of ROS2 (preferably rclpy). Integration with RealSense D455 and LiDAR (data processing, recognition, path planning). Motor control via STM32 (through ROS2 topics/services/actions). Implementation of a simple PID or other control logic for motion and stabilization. Well-commented and structured code. Launch instructions, preferably a README file. Willingness to assist with testing and minor fixes, if needed. --- 5. Payment and Timeline Timeline: 2 weeks Payment: Negotiable (note that we already have instructions, a ready STM32 firmware, and a preconfigured OS; only the control code is missing. We’re ready to share all available information to speed up the process.) --- 6. Support and Feedback I’m available to help with testing, verifying the system, and providing all necessary explanations. Real-world testing on the platform and live debugging are possible.