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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
      • Mechanical Odometry
      • Sensor Fusion
    • 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
      • Prerequisites
        • Launch odrivetool
      • Configuration
        • Current limit
        • Velocity limit
        • Enable brake resistor
        • Brake restance value
        • Pole pairs
        • Torque constant
        • Calibrate motors
        • Velocity control
        • Save configuration
      • Testing and Troubleshooting
        • Request closed-loop control
        • Dump errors
        • Clear errors
    • Using the UiAbot
      • Driving remotely with keyboard
      • Visualizing mechanical odometry, LiDAR, and IMU
      • SLAM
      • Localization and navigation
      • SLAM and navigation
    • 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
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