A diffrential drive robot is controlled using ros2 humble. Real Hardwares are interface in this robot.

hardware components:

1. two SPG30E-30K geared dc motor with encoder
2. L298n motor driver
3. raspberrypi4 with ubuntu 22.04 server
4. Arduino nano
5. 12 volt lithium ion battery

aruino code also provided in this repository

Video: https://github.com/user-attachments/assets/47c9fdf6-5587-4cb2-bd7d-ac38caa637ef