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ROS 2 stack for the FastBot differential drive robot: real hardware control, LiDAR/camera integration, Gazebo simulation, Nav2 navigation, and RViz visualization. Inspired by The Construct.
O_range is built to explore control theory and IoT on a budget. Initially, manual PID tuning via sliders was effective but time-consuming. The real breakthrough was AI-based tuning: I modeled the robot as an inverted pendulum in Python, using SciPy's Differential Evolution to find optimal PID vals.
A ROS2 safety package for the Robile mobile robot implementing autonomous safety behaviors using py_trees Behavior Trees and SMACH state machines. Includes battery monitoring, LiDAR-based collision avoidance, and priority-based emergency responses. Features unit and integration tests for all behaviors and automated CI/CD via GitHub Actions.
A full ROS Noetic simulation package for a custom skid-steer mobile robot. Includes URDF/Xacro modeling, Gazebo plugins, 360° LiDAR, Kinect RGB-D, ultrasonic sensors, teleoperation, and a complete simulation environment.
🤖 Differential drive robot on ROS Noetic with Jetson Nano. Repo includes hardware setup, wiring, software stack for control, localization, mapping, navigation, and SSH remote operation with RViz.
Swerve drive system for a 4-wheel mobile robot using ATmega2560. Controlled via Bluetooth PS2 joystick. Power window motors and encoders handle steering via gear-belt mechanism.
Schematic and PCB design of a small-factor device for controlling the movement of a mobile robot with the Mindwave interface. The design is composed by an Arduino nano, L293D motor controller, HC05 Bluetooth device with external battery connector.
It containis a 2D simulation environment for a unicycle robot that can navigate a map using keyboard controls. The map is hand-drawn in black and white color, exported as a PNG image, and integrated into the simulation.