This repository contains the lab projects for the Robotics course of AA. 2020-2021 at Politecnico di Milano.

Both the projects are implemented in ROS, an open-source robotics middleware suite.

Estimate linear and angular velocity from motors speed and then compute odometry, using the C++ language.

1. Compute odometry using skid steering (approx) kinematics

• using Euler and Runge-Kutta integration
• ROS parameter specifies initial pose

2. Use dynamic reconfigure to select between integration method

3. Write 2 services to reset the odometry to (0,0,0) or to a pose (x,y,θ)

4. Publish a custom message with odometry value and type of integration

Calibrate sensors, create a map and perform localization

1. Calibrate the static TF between the odometry and the laser sensor

2. Create the map with GMapping, using the provided odometry

3. IMU Tools can be used to preprocess IMU data

4. Perform localization with AMCL and Robot Localizaiton using the map

• Ubuntu 18.04
• ROS Melodic 1.0
• Visual Studio Code
• CLion 2020.3.4

Licensed under MIT License

• SICK LMS100 LIDAR
• OptiTrack Markers
• Intel T265 Odom Camera
• Pixhawk mini IMU

• Website
• User manual