OpenBot Waffle: A 3D Printable Open-Source ROS2 Mobile Robot

Abstract

OpenBot Waffle is an open-source, ROS2-based mobile robotics platform designed for research, education, and rapid prototyping. Built around the Raspberry Pi 5, the platform integrates key sensors including the Slamtec A1 LiDAR, Intel RealSense D435i depth camera, and Adafruit BNO055 IMU, alongside high-performance Dynamixel XL430-W250-T motors. The robot’s modular, 3D-printed chassis enables easy assembly and hardware customization. OpenBot Waffle supports autonomous navigation and mapping using the ROS2 Nav2 stack, with SLAM, localization (AMCL), and path planning capabilities. It also features seamless teleoperation via keyboard or joystick and can be fully simulated in Gazebo for virtual testing.

Authors

* External Author