cat > ~/your-repo/README.md << 'EOF'

Rover Autonomous Navigation

Autonomous exploration rover using ROS 2 Humble, Intel RealSense D435if, and RPLIDAR. Designed to run on Jetson Orin Nano (Ubuntu 22.04). Development mimicked on Ubuntu 22.04 laptops.

Hardware

• Jetson Orin Nano
• Intel RealSense D435if (RGB-D + IMU)
• RPLIDAR (model: A1/A2/A3 — update this)
• Rover chassis

Stack

• ROS 2 Humble
• RTAB-Map (SLAM)
• Nav2 (navigation)
• explore_lite (autonomous frontier exploration)

First Time Setup (Per Machine)

1. Install ROS 2 Humble

./install_ros2.sh

2. Install Intel RealSense SDK

Build from source (recommended for reliability):

git clone https://github.com/IntelRealSense/librealsense.git ~/librealsense
cd ~/librealsense
sudo apt install -y cmake build-essential libusb-1.0-0-dev libssl-dev libudev-dev pkg-config libgtk-3-dev
mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install

3. Clone the Repo

git clone --recurse-submodules <your-repo-url>
cd your-repo

4. Build the Workspace

./setup.sh

Every New Terminal

source /opt/ros/humble/setup.bash
source install/setup.bash

Workspace Structure

src/ ├── realsense-ros/ # RealSense ROS 2 driver (submodule) ├── rplidar_ros/ # RPLIDAR ROS 2 driver (submodule) ├── rover_description/ # URDF robot model (Phase 2) ├── rover_bringup/ # Launch files (Phase 7) └── rover_navigation/ # Custom behavior (Phase 7) build/ # ignored by git install/ # ignored by git log/ # ignored by git