UiAbot Documentation
Getting Started:
Introduction
System Overview
Software Architecture
Installation and Setup
NVIDIA Jetson SBC
Operating System
Setting up Wi-Fi
Remote PC
Connecting to UiAbot (SSH)
Automatic Sourcing
Set up
.bashrc
on UiAbot
Set up
.bashrc
on Remote PC
Install third-party software
ROS 2 configuration
Create workspace
Install developed software
Build the workspace
Configuring ODrive
Configuration
Testing and Troubleshooting
Implementation and Testing:
Motion Control
Motion Reference
Inverse Kinematics
Forward Kinematics
Motor Controller
Driving remotely with keyboard
Driving remotely with Game Controller
Perception
Wheel Encoders
Inertial Measurement Unit (IMU)
LiDAR
Visualizing mechanical odometry, LiDAR, and IMU
Localization and Mapping
Odometry
Mechanical Odometry
Sensor Fusion
Simultaneous Localization and Mapping (SLAM)
SLAM
Autonomous Navigation
Localization in predefined map
Navigation
SLAM and Navigation
Nav2 parameters
Run Nav2 with AMCL
Run Nav2 with SLAM
More Information:
Troubleshooting
Software Documentation
uiabot-ros2
Summary
Usage
Nodes
control
mechanical_odometry
imu_tf_viz
Package structure
launch
map
params
urdf
odrive-ros2
Summary
Dependencies
Usage
Nodes
odrive-ros2
odrive-interfaces
Summary
Usage
bno055-i2c-ros2
Summary
Usage
Nodes
bno055-i2c-ros2
UiAbot Documentation
Index
Index