This project is helping me learn ROS2 and is based on this platform https://bit.ly/metalmecanum, but with many changes.
Regarding movement, I changed the motors to JGB37-520 12V 200 RPM (no encoder) with a DFRobot controller board and 4 meccanum wheels 80mm diameter.
Next upgrade was a Raspberry Pi IO expansion board that is compatible and stackable with the previous one. Short-range IR proximity sensors were added for emergency stops, a frontal VL53L0X TOF Sensor and an MPU6050 Sensor for distance and orientation.
All are controlled by a Raspberry Pi 4 and a RadioMaster Boxer ELRS remote.
The purpose is to control the robot as far as possible with the ELRS remote or to switch to autonomous mode.
Please have patience as I barely have any time to work on this project.