├── .github └── FUNDING.yml ├── .gitignore ├── README.md ├── my_robot_base ├── CMakeLists.txt ├── README.md ├── include │ └── my_robot_hw_interface.h ├── launch │ └── hw_control.launch ├── package.xml └── src │ └── my_robot_base.cpp ├── my_robot_control ├── CMakeLists.txt ├── README.md ├── config │ ├── my_robot_common.yaml │ └── my_robot_control.yaml ├── launch │ └── my_robot_control.launch └── package.xml ├── my_robot_description ├── CMakeLists.txt ├── README.md ├── launch │ └── my_robot_rviz.launch ├── meshes │ ├── PDF │ │ ├── caster_wheel.pdf │ │ ├── chassis.pdf │ │ └── wheel.pdf │ ├── README.md │ ├── caster_wheel.dae │ ├── chassis.dae │ ├── hokuyo.dae │ ├── left_wheel.dae │ ├── right_wheel.dae │ └── step_bkp │ │ ├── README.md │ │ ├── caster_wheel.dae │ │ ├── caster_wheel.step │ │ ├── chassis.step │ │ ├── left_wheel.step │ │ └── right_wheel.step ├── package.xml ├── rviz │ ├── my_robot.rviz │ ├── navigation.rviz │ └── slam.rviz └── urdf │ ├── macros.xacro │ ├── materials.xacro │ ├── my_robot.gazebo │ ├── my_robot.xacro │ ├── my_robot_properties.xacro │ └── sensors.xacro ├── my_robot_gazebo ├── CMakeLists.txt ├── README.md ├── launch │ └── my_robot_world.launch └── package.xml ├── my_robot_navigation ├── CMakeLists.txt ├── README.md ├── config │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ └── slam_gmapping_params.yaml ├── launch │ ├── navigate.launch │ └── slam_gmapping.launch ├── navguide.pdf ├── package.xml └── src │ └── send_robot_goal.cpp ├── my_robot_scripts ├── README.md ├── arduino_scripts │ ├── AS5048-ros-node │ │ ├── AS5048-ros-node.ino │ │ ├── ATmega2560-HW.h │ │ └── MagneticEncoder.h │ ├── README.md │ ├── arduino_peripherals │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── run_arduino_node.launch │ │ ├── package.xml │ │ └── src │ │ │ └── arduino_peripherals │ │ │ ├── arduino_peripherals.ino │ │ │ └── include │ │ │ ├── ArduinoHW.h │ │ │ ├── DCMotorWithEncoder.h │ │ │ └── MagneticEncoder.h │ ├── from_keyboard_node │ │ ├── ATmega2560-HW.h │ │ ├── DCMotor.h │ │ ├── DifferentialDriveRobot.h │ │ └── from_keyboard_node.ino │ ├── from_keyboard_node_test │ │ ├── ATmega2560-HW.h │ │ ├── DCMotor.h │ │ ├── DifferentialDriveRobot.h │ │ └── from_keyboard_node_test.ino │ └── imu │ │ ├── MPU6050_calibration │ │ └── MPU6050_calibration.ino │ │ ├── README.md │ │ └── teapot │ │ ├── MPU6050_DMP6 │ │ └── MPU6050_DMP6.ino │ │ └── mpu_teapot_processing │ │ └── mpu_teapot_processing.pde └── esp32_scripts │ ├── README.md │ ├── esp32_peripherals │ ├── CMakeLists.txt │ ├── launch │ │ └── run_esp32_node.launch │ ├── package.xml │ └── src │ │ └── esp32_peripherals │ │ ├── esp32_peripherals.ino │ │ └── include │ │ ├── DCMotor.h │ │ ├── ESP32HW.h │ │ ├── MagneticEncoder.h │ │ └── WiFiHardware.h │ └── magnetic_encoder │ ├── include │ ├── MagneticEncoder.h │ └── WiFiHardware.h │ └── magnetic_encoder.ino └── resources ├── AS5048.png ├── Motor.png ├── 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