This repository contains the complete ROS 2 software stack for the AUSRA (Autonomous Unified Swarm Robotics Architecture) project.
The system implements a high-level/low-level architecture. A Jetson Orin Nano runs ROS 2 Humble for high-level tasks like Perception, SLAM, and Navigation, while an ESP32-S3 runs micro-ROS for real-time motor control and hardware interfacing.
