1. Overview

ERWHIxUP robot

Erwhi is a small mobile robotics platform created to study complex algorithms on a real robot.

Next steps:

• add xacro with stl files
• simulate Erwhi
• move from ZR300 to D435
• add sensors to solve blind view (STM ToF VL53L0X, sonars, etc)
• move from uNav to new motor controller based on STM32 and redesign software in ROS
• redesign hardware to be simple to assembly
• move from gmapping to cartographs
• move from 2D to 3D mapping
• new software (detect objects, etc)
• test yolo libraries