In Part2 of this article series, we built and tested various sensors of the 2WD robot and made sure that wheels, encoders and IMU sensor are all working properly and PID control of the motors is able to keep the speed of the wheel constant. In this article, we will…

In Part1 of this article series, we built the mechanical and electronic hardware for the 2WD robot and completed the wiring of the electronics components. …

I have always wanted to build a robot that was inexpensive and accessible to many people as an entry level robot to build that was running using ROS2. However, several challenges remained in order to accomplish that goal. If you have read any of my previous robot build articles, you…

Recently, I wrote an article that described how to get some of the micro-ROS examples running on esp32-WROOM-32D board that uses Wifi transport. However, this was a very simple example publishing incrementing numbers and didnot have much practical use. However, this got me inspired to go back to one of…

I had written an article for getting micro-ROS working with Raspberry Pico a while ago. However, I was not very satisfied with the outcome because the Pico was still tethered to the laptop or if you put it in robot it would be tethered to RPi4. I have been thinking…

Just some background, if you follow my blog I had written an article Building Hoverboard Robot a while ago. In that article, I used a more a clone of ODrive board which was still fairly expensive and it died after few days, leaving my project unfinished. Since then I have…

Recently I saw a blog article from @zahi_kakish that got me interested in exploring the viam framework for robotics. I wanted to try it out and see what it looks like. …

I have been pushing upgrading to ROS2 Humble Hawsbill for a while and decided to take advantage of holidays and take a plunge. Here are my notes on my experience, hope someone else out there can use it. I’ll talk about two main areas — main laptop upgrade and the…

I was experimenting to see if Arduino code can be used in Raspberry Pi Pico board. Wouldn’t it be really cool, because now you have access to years and years of Arduino code folks have been writing and sharing with everyone. I set out to do just that and with…