shivangg / roboMuseV

Software stack for the RoboMuseV

Findings

1. RoboMuseV robot model is in mybot_gazebo and mybot_description as the robot named mybot. [Done]2. Delete the malformed STL in mybot_description for rviz to work.
2. Links not defined from wheel, lidar to chassis.
3. Model fucked up. Use localisation model.
4. Working in simulation with teleop. Working laserscans. Replace hokuyo with rpLIDAR.
5. Make the robot go straight in Gazebo. Modify Radii of castor in the .xacro

Tips

Faster X forwarding can be done using

ssh -XC -c blowfish-cbc,arcfour ubuntu@<jetson_ip>

Enabled Compression. Using faster blowfish cipher.

Options for wireless connectivity

• A full blown hardware like MI router like this.

  • Requires external power from battery.
  • Space for mounting.

• A USB wifi adapter like this.

  • Low ubuntu support with soft AP(hotspot).
  • Low range and speed.

• PCI-e card like thisIntel card

  • Costly (INR 4k)
  • Dangling antennas