AKAditya Kamathinkamathrobotics.com00Sensor Fusion on LeKiwi5d ago · 10 min read · I've been gradually converting my LeKiwi mobile robot to run using ROS 2, and upgrading the original hardware piece by piece. Over the past few months, I've added a LiDAR, a pan-tilt mechanism with a Join discussion
AKAditya Kamathinkamathrobotics.com00Teleoperating the LeKiwi from a Steam DeckMay 1 · 8 min read · Tl;dr This article details how I turned my Steam Deck into a controller and visualization station for my LeKiwi mobile base. Using Pixi to install ROS 2, Distrobox to run the Foxglove desktop app, andJoin discussion
AKAditya Kamathinkamathrobotics.com10Pan-Tilt Controls using ROS 2 Apr 27 · 9 min read · In a previous post, I described designing and implementing the sts_hardware_interface — a ros2_control hardware interface for Feetech STS3215 servo motors. The interface supports position, velocity, aJoin discussion
AKAditya Kamathinkamathrobotics.com00BNO055 IMU Hardware AbstractionApr 15 · 5 min read · One of the things I had planned for my ongoing LeKiwi build was adding an IMU. The wheel odometry is already quite accurate, but the more sensors, the better. Especially if it is as good as the BNO055Join discussion
AKAditya Kamathinkamathrobotics.com00Wiring up ROS 2 Control for LeKiwiMar 15 · 12 min read · Last month, I built sts_hardware_interface, the ros2_control plugin for Feetech's STS servo motors. That post primarily focused on the hardware abstraction. This one is about connecting it to actual RJoin discussion
