- Runs on ROS Kinetic
- Depedency installation scripts for
amd64
andarmhf
- Open-loop differential drive
- Self-contained system
- Manual Xbox 360 wireless remote control
- Full URDF robot description
- Robot state publisher with limit checking
- Stable EKF robot localization
- Fuses encoders, visual odometry, and IMU
- Basic RTABMap mapping
- MacBook Pro (i5 quad core, 16GB ram, Ubuntu 16.04)
- 2 Arduino UNOs
- 1 Arduino Nano
- 1 Intel RealSense D415
- 1 Adafruit BNO055 9-axis IMU sensor
- 2 Andy Mark PG71 motors (with built-in encoders)
- 1 Cytron 10A Dual-Channel Motor Driver
- 2 LS7366R encoder counters
- 2 40MHz crystals for the encoder counters
- 1 12V 18Ah lead-acid battery
- 1 12-24V to 5V power regulator
Stable teleop system with localization, next step is navigation.