1. Why I decide to use Ros1.

1) Compatibility

ROS1 Noetic is the final LTS release of ROS1, ensuring stability and compatibility with a wide range of sensors and packages, including Cartographer and IMU drivers.

2) Performance

Jetson Nano's hardware limitations align better with ROS1 Noetic's lightweight architecture compared to ROS2, which can be more resource-intensive.

3) Support

ROS1 Noetic has extensive documentation and community support, making it easier to troubleshoot and implement features like mapping with Cartographer, Hector.

4) Maturity

Cartographer is well-supported in ROS1, with proven reliability for 2D mapping using RPLIDAR and IMU.

5) Experience

I've already failed at ros2 foxy at CMakeList.txt....

2. The objectives are as follows

1) Implementing Cartographer SLAM on ROS1 Noetic

Use Jetson Nano B01 and RPLiDAR A1M8 with Ubuntu 20.04.
Generate a map based on the robot's movement data.
Create a precise map using the Close Loop method.

2) USB Serial Communication between ESP32 and Jetson nano B01

Use ESP32 to handle motor control signals.

Communicate commands between Jetsoon nano B01 and ESP32 via USB serial connection.
Ensure smooth operation of robot movement and obstacle avoidance.

3) Obstacle Avoidance Functionality

Robot diameter: 400mm.
Implement an algorithm to detect and avoid obstacles.
Use LiDAR data to prevent collisions with walls or obstacles.

4) Autonomous Navigation Based on the Generated Map

Utilize the SLAM-generated map for continuous exploration.
Implement random autonomous navigation or follow predefined paths. Additionally, Using MPU9250 B184 IMU sensor gives accuracy.

5) Automatic Saving of Final Map Data

Regularly check and save the SLAM-generated map data.
Automatically save the final map to the home directory(home/Jetson/).

6) Technical Stack and Environment

Jetson Nano B01: Main processing unit and SLAM data processing.

RPLiDAR A1M8: For scanning spaces and obstacle detection.
ESP32: Handles motor control and communication with Raspberry Pi.

ROS1 Noetic: Software framework for SLAM and autonomous navigation.

Anyway, I wish you all the best and it starts at 3:09 AM on November 21st