See ROS 2 Nav2 up and running on the sub-$100 low cost Hadabot Turtle robot.
Hadabot Blog
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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.
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A ROS2 Nav2 navigation tf2 tutorial using turtlesim
Use the ROS2 turtlesim simulator to get acquainted with the Navigation2 and tf2 ROS packages.
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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.
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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.
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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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Use ROS2, an ESP32, and the web browser to control a motor driver
Through a web-based user interface, we will use ROS2 and an ESP32 microcontroller to control a 2-channel motor driver on a Hadabot differential drive robot kit.
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Setting up an ESP32 microcontroller for ROS2 robotics
Set up an Espressif ESP32 microcontroller for a ROS2 robotics system.
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Operate a ROS2 teleop controller from a web browser
Launch a ROS2 teleop controller running in a web browser and use the ROS2 web bash terminal to see what it does.
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Running ROS2 from the web browser with Docker and Portainer
Let's run a simple ROS2 example from a bash terminal running in a web browser using Docker and Portainer.
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