Welcome the UiAbot documentation!

Introduction:

• Project Description
  • Acknowledgment
• Installation and Setup
  • Operating System
  • Setting up Wi-Fi
  • Connecting to UiAbot (SSH)
  • Set up .bashrc
  • Install third-party software
  • Create workspace
  • Install developed software
  • Build the workspace

Implementation:

• Motion Control
  • Motion Reference
  • Inverse Kinematics
  • Forward Kinematics
  • Motor Controller
• Perception
  • Wheel Encoders
  • Inertial Measurement Unit (IMU)
  • LiDAR
• Localization and Mapping
  • Odometry
  • Simultaneous Localization and Mapping (SLAM)
• Localization and Navigation
  • Localization in predefined map
  • Navigation
  • SLAM and Navigation
  • Nav2 parameters
• Project Conclusion

Software and Guides:

• Guides
  • Configuring ODrive
  • Using the UiAbot
  • Troubleshooting
• Software Documentation
  • uiabot-ros2
  • odrive-ros2
  • odrive-interfaces
  • bno055-i2c-ros2