ROS Mobile Inverted Pendulum
This project is an attempt to create a ROS version of EduMip (https://github.com/StrawsonDesign/EduMiP), a lightweight beaglebone based mobile inverted pendulum.
ROSMIP is able to navigate using movebase. In the repository are the hardware interface and the balancing controller (adapted from roboticscape example) used to integrate MIP with ROS. Included is also a gazebo simulation model. Short term/relative positioning is done using odometry. For long term/absolute positioning, I am developing a simple camera-based tracker, smocap.
Here are a couple of pictures:
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| ROSMIP v0 Hardware | ROSMIP in Gazebo | ROSMIP in rviz | Rosmip v1 with IR marker |
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| ROSMIP following a curvy track under the authority of a pure pursuit controller |