Objective:

As a software developer for Bumpybot, a cutting-edge mobile omnidirectional carrier designed for hospital environments, my summer 2023 objective significantly contributed to its software capabilities.

Teleoperation Implementation:

I began by integrating Xbox controller teleoperation functionality into Bumpybot. This task required me to quickly learn and apply ROS (Robot Operating System), which is the foundation of the robot's software architecture.

Low Pass Filter:

I developed and implemented a first-order Low Pass Filter (LPF) to enhance the robot's motion control. This filter optimizes the wheel velocity, ensuring smoother and more reliable movement of Bumpybot. Also, this LPF filter was implemented for teleoperation to smooth out the user inputs to ensure a better ride for the rider.

Unfiltered motor reading

URDF Revision:

After major structural changes in Bumpybot, such as rearranging motors and wheels, I updated the Unified Robot Description Format (URDF). This was important to match the software representation with the physical changes. I also adjusted the positions of the camera and lidar systems in the URDF to fit the new layout, making sure these sensory components work perfectly.

Odometry Configuration:

Another key accomplishment was setting up odometry for Bumpybot, enabling precise localization. This feature is crucial for the robot's effective navigation in complex hospital settings and for the next set, which is SLAM.

SLAM Integration:

I successfully implemented SLAM (Simultaneous Localization and Mapping) on Bumpybot. This advancement allows the robot to navigate while mapping its environment autonomously, a critical function for its intended hospital application and autonomous navigation.