BSc thesis: EUROBOT competition 2022

Dependencies

• ROS Navigation Stack
• Robot Pose EKF

Contribution

• pkg capstone_manipulator/ & aruco_detect/: a grabbing system based on QR code detection
• pkg main_controller/: define working flows of competition, using ROS::ACTION to define and achieve manipulating and moving tasks
• deployed Extended kalman filter localization, AMCL particle localization on this robot.
• deployed Dijkstra (global planner) and TEB(local planner) algorthim to plan trajectory.
• Overall control system design