mobile_robotics_ROS2
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Robotisim
This repository will be carrying code for basics of mobile robotics with ros2 implementation in CPP
- [Reasource link 1 ](https://github.com/santoshbalaji/robot_control_system) - [Reasource link 2 ](https://www.youtube.com/watch?v=4QKsDf1c4hc&t=777s&ab_channel=ArticulatedRobotics) - [Reasource link 3 ](https://www.youtube.com/watch?v=J02jEKawE5U&t=1765s&ab_channel=ArticulatedRobotics) - [Reasource link 4 ](https://www.youtube.com/watch?v=4VVrTCnxvSw&t=2s&ab_channel=ArticulatedRobotics)
- Make esp32 a publisher. - only make robot move (subscriber cmd_vel ) and stream side by side.
- Get Lidar data and Visualize Rviz - Generate Odom using MPu and Encoder -> visualize on RVIZ - Perform Online Asynch Mapping throguh Slamtoolbox
- Perform Repeatability Test - IMU Tilting Tests
Multi Robot System and control [resource_link](https://www.youtube.com/watch?v=POLjIOs2MaM&ab_channel=TheConstruct)
- 3D depth camera based SLAM - Calculating Odometery with Camera - Performing Inertial calculation from vision
Search algroithm integeration into ROS2 NAV2 stack - [resource_link](https://www.youtube.com/playlist?list=PL0sla3wvhSnYNAyp0-OQmTMyO2POZRSe-)
### Resources 💯 - [resource_link_1](https://www.youtube.com/watch?v=KO4S0Lsba6I&ab_channel=TheConstruct) - [resource_link_2](https://www.youtube.com/watch?v=4PUiDmD5dkg&ab_channel=Hummingbird) - Understand Nav2 behaviour tree Groot visualization from book ### Task - Nav2 stack including behaviour tree and how the behaviour tree corelate/communicate...