Course: Digital Circuits Experiment Mar 2025 – Jun 2025
Overview
Built an autonomous mobile robot capable of real-time 2D SLAM, featuring wireless communication via ESP32, LiDAR-odometry fusion, and a complete ROS data pipeline for sensor integration and teleoperation.
Key Highlights
- Wireless Communication & ROS Virtual Serial Bridging: Developed a wireless TCP/IP bridge using an ESP32 and virtual serial ports to stream sensor data directly into ROS nodes.
- LiDAR & Odometry Fusion SLAM Algorithm: Deployed Hector SLAM for real-time 2D mapping, fusing LiDAR (
/scan) with odometry (/odom) feedback to reduce latency and enhance localization. - ROS Data Pipeline & Node Design: Engineered a data pipeline with custom ROS nodes to parse sensor streams into standard topics (
/scan,/tf,/odom) and manage vehicle teleoperation via/cmd_vel.
Gallery
Robot & Debugging
SLAM Map