I’m have been building on the Beta PiTOP ROS docker image. The current Beta features how to access the motor, camera, imu, and servos. Do you have an example on how to add ultrasonics, digital, and analog ports ?
I think a good source to merge code for a SLAM mapping robot would begin here:
The RPI4 and expansion plate would be used to control the motors and read the encoders. I happen to have an old Kinect in my pats bin
The expansion plate IMU appears to be a bit buggy. I’m going to attach and external gps with magnetometer via i2c. I plan on combining SLAM Mapping, Compass bearing, and wifi ap signal strength for navigating to locations.