132244 20260219090927.0 doi 10.3991/ijoe.v20i01.46573 sideral 137386 ART-2024-137386 eng Varela-Aldás, José A ROS-Based Open Tool for Controlling an Educational Mobile Robot 2024 Access copy available to the general public Unrestricted Commercial educational robots provide an accessible entry point into the world of robotics. However, their programming is often limited to specific platforms, which can make it challenging to acquire the skills necessary for industry and research. In this study, we introduce an open-access tool developed using C++ and Arduino IDE that enables us to manage a commercial mobile robot through the Robot Operating System (ROS) middleware. This provides programmers with the ability to work in a powerful programming environment, such as Python. The robot used is the CrowBot BOLT, a kit based on ESP32 that enables wireless communication and includes various peripherals for application development. The mobile robot topics include robot velocities, RGB LEDs, a buzzer, a programmable button, and proximity, light, and line sensors. The proposal is assessed using two controllers: one for proximity and the other for tracking angular light. Both controllers are developed using Visual Studio Code. The experimental results demonstrated the proper functioning of the tool. Additionally, the response time was evaluated, and it was found that optimal performance is achieved at a frequency of 10 Hz. In summary, this proposal provides an accessible option for students and developers seeking to gain skills in robotics using ROS. The project’s repository is located at https://github.com/joseVarelaAldas/ROS-Crowbot. info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 1.4 2024 0.336 2024 Engineering (miscellaneous) 2024 Q2 Biomedical Engineering 2024 Q3 4.7 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Palacios-Navarro, Guillermo Universidad de Zaragoza (orcid)0000-0002-9408-1280 5008 785 Universidad de Zaragoza Dpto. Ingeniería Electrón.Com. Área Tecnología Electrónica 20, 01 (2024), 23-39 International journal of online and biomedical engineering 2626-8493 3509793 http://zaguan.unizar.es/record/132244/files/texto_completo.pdf Versión publicada 2116467 http://zaguan.unizar.es/record/132244/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:132244 articulos driver 2026-02-19-09:00:00 ARTICLE