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Since my last update, I’ve been concentrating on completing the first hardware iteration of my robot. Previously, the robot existed as a basic prototype, and it required significant improvements. This post aims to provide a brief summary of the progress made and the tasks accomplished. Motors and gears I was a bit surprised when the…

Since my last post, I have been busy dockerizing the entire project and integrating all the sensors into ROS. Each sensor is now running in an isolated Docker container and publishing sensor data. As I am not an expert in Docker, I took a Udemy course to familiarize myself with it. Now, everything has been…

Just finished setting up the first version of my navigation stack. I’m using the Navigation 2 stack for Ros2. Below is a sped up video where the robot gets a goal position and manages to get there on its own. Here is a photo of the transformation tree. It is used to calculate the positions…

I have now successfully imported the model (step file) into NVIDIA’s own robot simulator Isaac sim that I will be using. The robot have revolving joints for each wheel. The robot currently have an IMU, 360 degree lidar and a camera configured, and their output can be seen in rviz2. Everything is also ported to…

Last spring (2022) I started designing my own robot using SOLIDWORKS. Once I was happy with the design I sources the parts, put it together during the summer. I ended up with the first version. It’s mostly made with 40×40 aluminum profiles and is really solid. This is a photo in the end of the…