Mini Pupper 2: map a room with ROS 2 and LiDAR
Driving Mini Pupper 2 from a browser and making it navigate a map are different projects. Navigation requires a compatible LiDAR, working ROS 2 software, reliable localisation and a controlled area. This guide covers Mini Pupper 2, not the original Mini Pupper or a kit without the needed sensor. It explains how to test each stage and when to stop.
The official ROS 2 guide and detailed setup repository are the operational references. MangDang's original video illustrates the project but cannot validate your own hardware. An Open Robotics Discourse technical account describes the LiDAR navigation work and notes that its configuration was tuned for a small tabletop area, not every room.
Check the kit before installing
Record the robot version, onboard computer, operating-system image, ROS release and LiDAR model. The detailed guide uses Ubuntu 22.04 and ROS 2 Humble. Commands for another release may be incompatible. Check the sensor's power, mounting and data connection against your kit documentation. If LiDAR is an optional purchase, request an up-to-date quote for the exact compatible sensor, cables and support. No universal total kit price is established by these sources.
| Requirement | Check | If missing |
|---|---|---|
| Supported ROS 2 setup | OS image, ROS version and robot variant | Use the correct official release instructions |
| Compatible LiDAR | Model, power, mounting and scan topic | Do not start laser-based SLAM |
| Local network | Robot and workstation can communicate | Resolve networking before launching nodes |
| Safe area | Flat surface and reachable stop control | Test without autonomous movement first |
Four stages of a small test
1. Bring up the robot without navigation. Use the launch procedure for your MangDang repository version. Confirm state, control and coordinate transforms. If the robot cannot stand safely or essential topics are absent, mapping will not fix it.
2. Verify LiDAR scans. Inspect the data in RViz while the robot is still. Check orientation, range and obvious errors. A rotated scan or incorrect reference frame can yield a convincing but unusable map.
3. Map and save. Start SLAM Toolbox as instructed for the version in use. Move slowly through a small clear area, revisiting landmarks to see whether walls remain aligned. Save the map only when it is stable. Moving furniture or people can change the result; this is not a certified floor plan.
4. Test Nav2 under supervision. Load the saved map, confirm localisation and choose a nearby goal in free space. Keep an immediate stop available. Do not start near stairs, pets or children. Domestic autonomous navigation needs further safety assessment.
Troubleshooting and deciding whether it is worthwhile
Missing scans may stem from power, drivers, wiring or ROS configuration. A doubled map points first to scans, transforms or odometry. Implausible Nav2 paths call for checking localisation, map and robot footprint before changing speed. Keep version numbers and logs when asking for help, without exposing network passwords.
The Discourse post describes a development pathway, not a guarantee that any Mini Pupper 2 will navigate an entire house. For a school or home lab, a repeatable small test teaches more than an uncontrolled demonstration. If you only need manual control, start with the Wi-Fi and Web Controller guide. Choose ROS 2 and LiDAR to learn sensing, mapping and planning, then check the Mini Pupper 2 listing and request a written quote for your exact kit.