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Blockly ROS2 Robot Controller — Documentation

Visual programming interface for controlling a ROS2 Jazzy Kiwi Wheel AMR. See readme.md for project overview and status.

Documentation Index

Topic	File
System architecture & Blockly–ROS2 integration flow	docs/architecture.md
Installation, directory structure & running	docs/installation.md
Troubleshooting & known issues	docs/troubleshooting.md
Guide: adding a new ROS2 package	docs/ros2-package-guide.md
`blockly_app` — file reference	src/blockly_app/README.md
`blockly_app` — creating custom blocks (full guide + reference)	src/blockly_app/BLOCKS.md
`blockly_executor` — file reference, handlers & testing guide	src/blockly_executor/README.md
`blockly_interfaces` — ROS2 action & message interfaces	src/blockly_interfaces/README.md
`gpio_node` — Raspberry Pi GPIO node (C++, libgpiod)	src/gpio_node/README.md
`pca9685_node` — PCA9685 16-channel PWM controller (C++, I2C)	src/pca9685_node/README.md
`as5600_node` — AS5600 12-bit magnetic encoder (C++, I2C)	src/as5600_node/README.md

Quick Start

Desktop (linux-64)

pixi install                  # first time only
pixi run build-interfaces     # must build interfaces first
pixi run build                # build all packages
pixi run setup-ui             # download Blockly JS vendor files (first time, needs internet)

pixi run executor             # Terminal 1 — start Action Server
pixi run app                  # Terminal 2 — start desktop GUI

Raspberry Pi (linux-aarch64)

pixi install                  # install ROS2 + deps via conda
pixi run build-gpio           # installs system deps (apt) + builds gpio_node
pixi run build-pca9685        # installs system deps (apt) + builds pca9685_node
pixi run build-as5600         # installs system deps (apt) + builds as5600_node

pixi run gpio-node            # start GPIO node
pixi run pca9685-node         # start PCA9685 PWM node
pixi run as5600-node          # start AS5600 encoder node

build-gpio, build-pca9685, and build-as5600 automatically run setup-dep which installs system libraries (libgpiod-dev, liblttng-ust-dev, i2c-tools) via apt.

See docs/installation.md for full setup and prerequisites.