Welcome to B.OB's Wiki

B.OB is a differential drive robot which is controlled using ROS2 Humble running on a Raspberry Pi 4.

Current status

B.OB currently has 2 driving modes, Basic and Assisted.

• Basic Driving is teleoperation via a controller using no extra sensors.
• Assisted Driving uses sensors to enhance the capabilities of bob such as:

  • Mapping with SLAM using Lidar

    

  • Lateral controller using the IMU

    

  • Localization by fusing the IMU sensor and wheel encoders via an Extended Kalman Filter(EKF).

    

Next Goal

Autonomous driving is the next goal for B.ob.

Note: This video is done purely in simulation

Configuration Files

Here you will find links and explanations to the different parameter files we use and how to tune them.

Documentation Guidelines

Here you will find our guidelines for maintaining good quality code, our folder structure and other details pertaining to documentation.

Getting Started

Here is a section to help new members onboard in terms of recommended software and tutorials to watch.

Hardware Documentation

Here we have all the different wiring diagrams as well technical specifications.

Requirements

Here are where the links and pdfs to the various datasheets can be found. Also the software packages which needed to be downloaded on the raspberry pi.

Simulation

Here are the guides for how to use the gazebo simulation.

Software Documentation

Here we document all processes of the Software from explaining the ROS node graphs and setting up certain functions on the Rpi4 to calibrating and connecting other hardware.

User Guide

Here you find quick start guides and explanations for running various algorithms on B.OB