iRob_bot_ros2

iRob_bot_ros2 is a ROS2 support package for iRob-bot project, this includes :

• irob_msgs for motor message and control message
• irob_interface for hardware interface
• irob_controller for various types of holonomic robot (3 wheels Omni, 4 wheels Omni and 4 wheels Mecanum)
• irob_maneuv3r for A to B position controller
• irob_maneuv3r_tracker for pure-pursuit path tracking controller (Work in progress)
• irob_trajectory_server for publishing trajectory using PoseStamped message. Save to CSV file soon
• irob_launcher for launching the above packages

TODO

• implement the irob_interface_wireless to be used with the original iRob-bot
• implement the pure pursuit controller
• built-in EKF to support other odometry method (based on optical mouse sensor, LiDAR and/or dead wheels)
• save trajectory from irob_trajectory_server into CSV format
• implement path smoothing to take in data from user pose (manual planning).