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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
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