My journey into building a robot from scratch, with the initial aim of exploring the Nav2 and MoveIt2 frameworks.
XavBot is a small holonomic robot with a 4 DoF manuipulator based around the NVIDIA Jetson Xavier NX.
Contains the launch files and configs.
The controller for the mecanum wheel kinematics.
Contains the URDF xacros.
Hardware interface and holonomic motion control. Written with lots of guidance from Articulated Robotics' excellent series.