Repositories

• Makeblock library: https://github.com/german-m-garcia/Makeblock-Libraries To be flashed on the Arduino on board. It controls the motors and sends back information about the motor encoders as well as raw IMU values.

• Control ROS node: https://github.com/german-m-garcia/mk_odometry Listens to velocity commands and communicates with the Arduino board to execute them. Reads the reported motor encoder and raw IMU values and publishes them as ROS topics.

• Package with ROS launch files and scripts: https://github.com/german-m-garcia/mk-launch

• Package with URDF and CAD files for visualization on RVIZ: https://github.com/german-m-garcia/mk-system-setup

• Package for hardware encoded camera streaming: https://github.com/german-m-garcia/nimbro_network Makes use of the VAAPI encoding capabilities of the Up Board to perform hardware accelerated H.264 encoding.

• Calibration routine: https://github.com/german-m-garcia/manifold_calibration ROS package to calibrate the differential drive parameters and the Lidar pose.