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.
STM32-libraries
Collection of RTOS aware low-level (HAL) and high-level libraries (drivers) for the STM32 device family
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
G431-ESC-MotorDriver
DC motor control project with the STM32G4 ESC board
MATLAB-tools
A collection of different MATLAB scripts and tools
acados-STM32
ACADOS example using HPIPM on STM32H7 device (Cortex-M7 @ 480 MHz)
JetsonCar-Gazebo
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
JetsonCar-ROS
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
Kugle-Gazebo
Gazebo Simulation model of Kugle robot
STM32F0-MotorDriver
Custom DC motor driver project (PCB+Firmware) with current control
image_undistort
A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation
realsense-ros
Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module
acados
Fast and embedded solvers for nonlinear optimal control
cutecom-qt5
cutecom-qt5 is a fork of the original cutecom (a graphical serial terminal) modified to build with qt5
dwm1001_ros
This repo creates an interface from dwm1001 dev-board into ROS enviroment
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.
JetsonCar-Firmware
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
JetsonCar-MATLAB
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
JetsonCar-Misc
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
kindr
Kinematics and Dynamics for Robotics
Python-tools
Mixed Python scripts and tools
realsense_gazebo_plugin
Intel RealSense R200 Gazebo ROS plugin and model
ros_decawave
Positioning System based on Decawave's DWM1001 Ultra Wide Band transceivers.
stm32-cmake
CMake for stm32 developing.
STM32-CMake-template
Template project for STM32 devices using CMake
torch2trt
An easy to use PyTorch to TensorRT converter