Problem-based robotics · Rust · ROS 2

ROS via Rust

One robot, a TurtleBot3 in the Webots simulator, and one rule: each chapter opens with a concrete problem the robot has, derives only the theory that problem needs, and then shows the Rust that solves it. The widgets in the pages run that same Rust, compiled to WebAssembly. Nothing is a re-implementation in JavaScript.

Start with Chapter 1Reading guide

What the chapters cover

Five topics are published: localization holds Chapter 4 (the EKF half), mapping holds Chapter 5, SLAM holds Chapter 6.

  • published

    Foundation

  • published

    State estimation, sensor models, simulation

  • published

    Localization

  • published

    Mapping

  • published

    SLAM

Published chapters

Read Chapters 1 to 6 in order: 1, 2, 3, 4 (localization), 5 (mapping), 6 (SLAM).

Later topics

Planned topics have no chapter link until their chapters are written.

  • planned

    Planning

    Search and sampling planners, and decision making under uncertainty.

  • planned

    Control

    Pure pursuit, DWA and MPPI tracking.

  • planned

    Exploration

    Frontier-based exploration with information-gain scoring.

  • planned

    Complete autonomy stack

    Supervisor, recovery behaviours and missions, benchmarked end to end.