Design and Implementation of a Modular Omnidirectional Ground Robot Using Raspberry Pi 5 and ROS 2

Affordable and modular ground robots are key in robotics research and education. However, many existing platforms rely on expensive hardware and rigid architectures, limiting their reproducibility and practical deployment in resource-constrained environments. This work presents the design and implementation of a low-cost, 3D-printed omnidirectional robot that combines mechanical flexibility with modern embedded software capabilities. The proposed system features a lightweight fused deposition modeling-printed chassis, mecanum wheels for holonomic motion, and a Raspberry Pi 5 as its central processing unit. The system supports full ROS 2 compatibility, integrating all core functionalities, including sensor acquisition, control logic, and real-time teleoperation. Extensive engineering validation confirms that the platform operates reliably under manual control, providing a reproducible and extensible base for future robotic research in constrained environments.