DiffBot is an autonomous 2wd differential drive robot using ROS Noetic on a Raspberry Pi 4 B. With its SLAMTEC Lidar and the ROS Control hardware interface it's capable of navigating in an environment using the ROS Navigation stack and making use of SLAM algorithms to create maps of unknown environments.
File is unchanged except for addition of code for Adafruit BNO055 IMU.
Ref: https://github.com/ros-mobile-robots/diffbot/issues/21