A summary of the Kalman Filter and a simple Jupyter Python Notebooks exercise to implement and visualize the filter in action.
Probabilistic Robotics ROS 2 Python Exercises with Hadabot
Implement, learn concepts from the seminal textbook, Probabilistic Robotics by Sebastian Thrun, Wolfram Burgard, and Dieter Fox, with the Hadabot "Turtle" robot kit and the Hadabot software stack using ROS 2, Python and Jupyter Notebooks.
Mobile Robotics MOOC Exercises to use ROS 2 and the Hadabot Robot
We have started our effort to adapt various MOOC exercises to use ROS 2 programmed on a Hadabot robot, giving the students the ability to learn modern robotics concepts while using cutting edge programming tools and middleware frameworks.
AWS RoboMaker ROS2 Nav2 controlling the Hadabot Turtle
For ROS World 2021, we present a novel way to control our ESP32 micro-controller Hadabot Turtle robot remotely with ROS 2 and the Navigation 2 (Nav2) stack running in the cloud on Amazon Web Services (AWS) RoboMaker. Here's the source code and video show-and-tell.
ROS2 Nav2 Go-To-Goal using the low-cost Hadabot Turtle robot kit
See ROS 2 Nav2 up and running on the sub-$100 low cost Hadabot Turtle robot.
Create an Ubuntu bootable usb drive with ROS2, Docker, VSCode, and ESP32 tools installed
For Windows users who have trouble flashing their ESP32, create a bootable Ubuntu OS USB thumbdrive installed with the entire Hadabot, Docker, VSCode, ESP32 software stack.
A ROS2 Nav2 navigation tf2 tutorial using turtlesim
Use the ROS2 turtlesim simulator to get acquainted with the Navigation2 and tf2 ROS packages.
ROS2 node to convert unicycle to differential drive kinematics
We control our Hadabot with a teleop controller that treats it like an unicycle robot. But the Hadabot is a differential drive robot, not an unicycle robot?! Learn about and implement the unicycle to differential drive conversion as a ROS2 node to drive our Hadabot around.
Implement ROS2 odometry using VSCode running in a web browser
Learn the equations to compute odometry for a Hadabot differential drive robot, then implement odometry with ROS2 using VSCode running in a web browser.
Wheel rotational velocity using wheel encoders, ROS2, and an ESP32
For robot navigation, we need odometry. Before we can determine a Hadabot's odometry, the Hadabot's ESP32 needs to compute and publish out its wheel's rotational velocity out to ROS2.
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