Matt Williamson's repositories
deepdrive_micro
Raspberry PI Pico firmware for DeepDrive ROS2 robot
audio_common
A pyaudio based audio_common with text to speech for ROS 2
champ_robots
Collection of quadrupedal robots configured to work in CHAMP development framework
Fusion
IMU AHRS Madgwick Fusion library
hls_lfcd_lds_driver
ROS package for HLDS HLS-LFCD LDS driver
husky
Common packages for the Clearpath Husky
llama_ros
llama.cpp (GGUF LLMs) and llava.cpp (GGUF VLMs) for ROS 2
mpu9250
MPU9250 full function driver library for general MCU and Linux.
navigation2
ROS2 Navigation Framework and System
oakd_isaac_ros
An implementation of Isaac VIO and SLAM using the OakD stereo camera and imu
ros-imu-bno085
ROS package for the BNO085 IMU via I2C
ros_imu_pipeline
Transforms sensor_msgs/Imu messages into new coordinate frames using tf
RP2040-PWM-Tone
Tone generation library for Raspberry Pi Pico. Plays melodies and chirping sounds via PWM through a buzzer or speaker.
silero-vad
Silero VAD: pre-trained enterprise-grade Voice Activity Detector
simple_node
Wrap of the ROS 2 node. Now you can avoid all the async/future mechanisms.
SpotMicroESP32
My take on a SpotMicro with an optimized design for supportfree 3D-printing. It utilizes an ESP32-DevKitC for the low-level control of the electronics. The heavy computation will be made by external devices, which in return have the power to command the robot.
tts_ros
Text-to-Speech for ROS 2
turtlebot3
ROS packages for Turtlebot3
turtlebot3_simulations
Simulations for TurtleBot3
whisper_ros
silero-vad + whisper.cpp (speech-to-text) for ROS 2
yasmin
YASMIN (Yet Another State MachINe)
yolov8_ros
Ultralytics YOLOv8 and YOLOv9 for ROS 2