Training my first robot policyI trained my first robot policy, and it barely works. Move the block a little away from where I trained it, and the arm reaches, hesitates and misses. So I trained a second one. Same arm, same model, Oct 24 · 7 min readadoodevv.hashnode.dev
Adding The LiDAR and IMU SensorsIn the previous post, we learnt how to structure our robot’s URDF file using links, joints, and Xacro macros and finally simulated in Gazebo. Now that our robot has a body, it’s time to give it senses - specifically, an IMU (Inertial Measurement Unit...Nov 10, 2025 · 4 min readadoodevv.hashnode.dev
Gazebo SimulationIntroduction The new Gazebo simulator builds on the legacy of Gazebo Classic but introduces key changes that affect how ROS 2 projects interact with it. ros_gz vs. gazebo_ros_pkgs: ROS 2 now uses the ros_gz package instead of gazebo_ros_pkgs for lau...Sep 26, 2025 · 4 min readadoodevv.hashnode.dev
What is a URDF?Describing a Robot When building a robot, multiple software components often need access to the same information about the robot’s physical structure. To keep things consistent and avoid duplication, it’s best to store all of this information in a si...Sep 2, 2025 · 4 min readadoodevv.hashnode.dev
Building The RobotIntroduction In this post, we’ll explore the design of a differential-drive robot and create its URDF model. This robot will serve as the foundation for the rest of this series. Much of what I’ve learnt here comes from Josh Newans’ excellent YouTube ...Dec 22, 2024 · 6 min readadoodevv.hashnode.dev
