Giacomo Franchini's Projects
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
A set of ROS packages for keeping track of coordinate transforms.
A LiDAR odometry pipeline that just works
Exercises from learn_cpp.com tutorials
Repository hosting the modern c++ course material
A setup for learning using micro-ROS
ROS based repo for Morpheus rover's robotic arm
A simple set of tools to record odometry and trajectory data from ROS2
Integration of Omniverse IsaacSim in pic4ser works
A set of utils for pointclouds managing
rclcpp (ROS Client Library for C++)
Implementation of Reinforcement Learning Algorithms. Python, OpenAI Gym, Tensorflow. Exercises and Solutions to accompany Sutton's Book and David Silver's course.
An example project which contains the Unity components necessary to complete Navigation2's SLAM tutorial with a Turtlebot3, using a custom Unity environment in place of Gazebo.
ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts
ROS2 Type adapters for common C++ frameworks
Repository to allow synchronization of ROS2 topics
A collection of utils to manipulate ROS2 sensor_msgs
ros2_control hardware interface that uses topics to command the robot and publish its state