List your electronics with voltage and current draw, get idle, typical and peak runtime from a battery.
Ohm's law, voltage dividers, resistor colour codes and capacitor codes in one place.
Generate package.xml, build files and node stubs (ament_python or ament_cmake), downloaded as a zip.
Load a .pgm + .yaml SLAM map, erase stray LiDAR points, paint keep-out zones and export it again.
Tune P, I and D on simulated motors and plants and watch overshoot, rise and settling time change live.
Connect to an Arduino or ESP32 over USB, send and receive data, log and plot it, right in the browser.
Convert quaternions to roll, pitch, yaw and back (ROS conventions), with rotation matrix and tf2 snippets.
Work out the torque, speed and power each drive motor needs from mass, wheel size, slope and acceleration.
Convert cmd_vel to wheel speeds and back, find the turning radius, and turn encoder ticks into odometry.
Paste BehaviorTree.CPP or Groot XML and see it as a tree, with checks for common mistakes.
Live ROS topic viewer in the browser. Connects to a rosboard node running on your robot (default port 8888).
Drive a robot from a touch or mouse thumbstick. Open your fleet dashboard, pick a robot, then Teleop.
Run commands on a robot's onboard computer from the browser. Open your fleet dashboard, pick a robot, then Terminal.
XPARO started as a platform for running fleets of ROS 2 robots. While building and testing robots for it, we kept reaching for the same small calculations: how long will this battery last, which motor is strong enough, what does this quaternion mean, why is this PID loop oscillating. Most answers were scattered across forum posts and spreadsheets, so we turned them into tools anyone can use for free.
Each tool does one job well, explains its formulas on the same page, and keeps your data in your browser. Nothing you type is uploaded. When a tool can't give an exact answer, it says so and tells you what to measure on the real robot.
50 in-depth articles with worked examples. Pick a tool to see its guides, or browse them all on the blog.
Some jobs are already done well by open-source projects, so we point you to them instead of rebuilding them.
