Robotics 2022 project at Politecnico di Milano.
The project is divided in two parts, each part detailed specifications are described in the provided presentations. The project has been implemented in the C++ language and developed using ROS Melodic on Ubuntu 18.04.
The instructions to run the project are provided in the 'instructions.txt' files present in the 'project' folders.
- Mecanum wheels
- 4 wheels with rollers at 45°
- Encoders on each wheel
- RPM (very noisy)
- Ticks (more accurate)
- Geometric parameters:
- Wheel radius (𝑟)
- Wheel position along x (±𝑙)
- Wheel position along y (±𝑤)
- Compute robot linear and angular velocities v, ⍵ from wheel encoders
- Compute odometry using both Euler and Runge-Kutta integration
- ROS parameter for initial pose
- Calibrate (fine-tune) robot parameters to match ground truth