mindThomas

Thomas Jespersen's repositories

Kugle-MATLAB

Main repository for the Kugle robot project. The repository contains the MATLAB code and Simulink models for the Kugle robot developed as part of the master thesis work. This includes a non-linear Quaternion ballbot model, Sliding mode attitude controller, Quaternion Extended Kalman filter and ACADO MPC for path-following.

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STM32-libraries

Collection of RTOS aware low-level (HAL) and high-level libraries (drivers) for the STM32 device family

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Kugle-Embedded

Embedded firmware code for the STM32H7 board on the Kugle robot running the Sliding mode attitude controller and path following MPC, to a certain extent based on code generated by MATLAB coder

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G431-ESC-MotorDriver

DC motor control project with the STM32G4 ESC board

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Kugle-ROS

ROS workspace for the Kugle robot including the ROS driver for interfacing, launch files and a shape-accelerated MPC for navigation

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MATLAB-tools

A collection of different MATLAB scripts and tools

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acados-STM32

ACADOS example using HPIPM on STM32H7 device (Cortex-M7 @ 480 MHz)

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JetsonCar-Gazebo

WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar

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JetsonCar-ROS

WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar

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JetsonCar

Monolithic repository for the Jetson RC car project including embedded firmware, ROS nodes, libraries, MATLAB scripts, startup scripts etc.

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STM32F0-MotorDriver

Custom DC motor driver project (PCB+Firmware) with current control

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Kugle-Gazebo

Gazebo Simulation model of Kugle robot

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image_undistort

A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation

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realsense-ros

Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module

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acados

Fast and embedded solvers for nonlinear optimal control

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brisk

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cutecom

Serial Terminal GUI based on QT5 - OBS: This is just a fork of original GitLab repository

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cutecom-qt5

cutecom-qt5 is a fork of the original cutecom (a graphical serial terminal) modified to build with qt5

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dwm1001_ros

This repo creates an interface from dwm1001 dev-board into ROS enviroment

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gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

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