This repository contains the source code for a custom robot built with a Raspberry Pi 3 (with camera) and a PiBorg Reverse motor controller.
The intention is to integrate this robot with ROS and use monocular visual odometry to to estimate the position (probably in conjunction with the ros robot_localization package.
This package will contain multiple components which may be split up in the future:
- A ROS node to convert the
cmd_veltopic to PiBorg Reverse commands. - A node which estimates position based on
cmd_veltopic. - A launch file which starts up the nodes
This robot will rely on the following packages: viso2_ros