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Open-source diff drive robot ROS 2 compatible
Unit tests shall be added to ensure regressions don't take place as the code evolves.
Some notes:
Go over real robot sizes and adjust urdf description.
The id assigned to each usb device should be deterministic.
Example:
Enable nav2 navigation in Andino.
The current implementation of the Carpincho URDF has an offset between base_link
and the front_right_wheel
and front_left_wheel
axis, this influences localization since the robot movement also gets affected by that offset.
The fix would be to modify the position of base_link
to be between the wheels, sharing the same axis.
View of the base_link and the wheels
Create urdf for the carpincho bot.
Notes:
Bonus:
General goal: Build one(two if possible) robots.
carpincho_assembly
folder for everything related to the assembly and documentation related.Firmware code base shall be improved so as to ease its maintenance, decouple logic and drivers code (to ease the process of using a different dev board / microcontroller) and add unit tests.
For example:
Good HW docs needs to be written so as to allow new CarpinchoBots to be built.
Create a markdown document including:
Adds some smoke tests in andino_description
package for processing the xacro files and checking that there is no error when doing so.
Add PlatformIO support to be able to build and upload the firmware using Visual Studio Code (by using the PlatformIO extension). Among other things, some advantages from doing so would be:
Arduino IDE support for building and uploading the code shall remain as an easy and straightforward option to do so.
Good FW docs needs to be written so as to allow new CarpinchoBots to be built.
Create a markdown document including:
This ticket involves adding IMU support. It shall be optional.
The caster wheel rotates freely when the robot moves
Add a flag to XACRO to generate the required joints.
Keep default as is
This tasks involves developing the firmware communication module that allows the communication between the microcontroller and the Raspberry Pi. ROS Serial over the USB port will be used to that end.
robot movement on gazebo is not regarding with the command vels. I will fix that commands
Enable the use of a continuous joint in the simulation
Here #100 the option was added
Some source files, for instance the ones within the andino_firmware folder, don't contain the corresponding license note.
This tasks involves designing the firmware solution in terms of classes and their interactions.
Add some gazebo references with colors for the meshes
This tasks involves developing a base project for the robot firmware.
Basic structure:
Configuring PlatformIO or a similar framework to be able to develop using VSCode instead of specific IDEs is desired.
The main Readme should work as an entry point to the entire project and documentation
The readme is expected to be improved over time as the project evolves.
For so here there is a list of things to tackle:
Adding test coverage makes the code more robust.
We could mock the microcontroller in order to provide some tests that guarantee that the hardware interface is working correctly.
We already have a gazebo simulation at noetic branch but it was an old implementation. The urdf description way different than the current one.
andino_gazebo
package is expected to be createdAfter a quick search throughout the repository, I've found some references to the previous name.
This task require us to rename those references in favor of the new name andino
.
Provide a world for the simulation
Which world? To discuss here
The idea is to build up a well-documented, user-friendly, easy-to-use public repository. Where best practices are used in order to ease the way to new-into-robotics people and to serve as a demo/advertising of the company.
Motor needs to be controlled properly in order to guarantee later on good teleoperation and odometry readings.
Requirements file https://github.com/ekumenlabs/carpinchobot/blob/humble/docker/requirements.txt
isn't being used within the Dockerfile
This issue require us to set up a few guidelines on how to collaborate in andino
. If we're creating an open source project, we should enable other developers to collaborate.
This tasks involves modifying the standard Arduino Smart Car 3D design in order to include the required holes and avoid having to drill them after printing.
This PR #54 doesn't provide meshes for the visual of the camera.
It would be nice to have a ClangFormat config file within the andino_firmware folder.
Good SW docs needs to be written so as to allow new CarpinchoBots to be built.
Create a markdown document including:
Hey team,
I'd like to propose we remove the andino_
prefix from the different folders, as it becomes a bit redundant.
This issue require us to define who are the code owners of the project and who are responsible for approving PRs.
Using Gazebo ROS Control with the current robot configuration sometimes crashes the robot under specific movements, high values for the PID, or high-velocity commands being sent.
Different mass values improve the behavior, indicating that it could be an issue with the Inertia values and how Gazebo ROS control interacts.
TODO
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