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EEET2610 - Mecanum Robot Guide home page

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Getting Started

GitHub Repositories
SDG Goals

WP1: MATLAB Simulation

WP1: MATLAB Simulation - Introduction
Mecanum Robot Kinematics
Trajectory Planning & Simulation

WP2: Prototyping

WP2: Prototyping - Introduction
CAD Design Guide
PCB & Wiring Design
Mechanical Assembly

WP3: Embedded Systems

WP3: Embedded Systems - Introduction
Development Environment Setup
ESP32 Basics
Motor Driver Guide (IBT-2)
DC Motor Control with PID
IMU Integration (ICM-20948)
Unit Testing Guide

WP4: ROS2 Setup

Computer Preparation for ROS2
Raspberry Pi Setup for ROS2
ROS2 Basics
Communication Testing

WP4: Robot Description

URDF Introduction
Mecanum Robot URDF
URDF Visualization

WP4: Control

ros2_control Introduction
Hardware Interface Implementation
Teleop Control

WP4: Localization

Wheel Odometry
IMU Fusion
Extended Kalman Filter (EKF)
Testing

WP4: Mapping

SLAM Toolbox
Google Cartographer
Map Server

WP4: Navigation

Nav2 Introduction
Path Planning
Behavior Trees
Testing

WP4: Sensors

LiDAR Setup (RPLIDAR A1M8)
Camera Setup (Optional)
Sensor Integration

WP5: Integration & Presentation

Introduction
System integration
Deployment Guide
Performance Optimization
Maintenance
Final demo

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Course Overview Team Management IMU Integration (ICM-20948)

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