Context

The final project of my training with Dagozilla, a team in the ITB Robotics Unit. The training taught ROS with Python and C++, and this project applied it to a real robot.

Problem

Jacobi, an existing omni-wheel robot, no longer moved. The goal was to get it running again and make it drivable by an operator, which meant repairing every layer from the motors up to the ROS interface.

Approach

The team rebuilt the robot layer by layer:

• Hardware: the motors, their drivers, and the STM32 microcontroller that controls them.
• Middleware: ROS, passing commands from the operator to the STM32, with nodes written in Python and C++.
• Operator interface: keyboard teleoperation, where key presses become motion commands for the robot.

My Contribution

I wrote the high-level software: the ROS teleoperation interface that lets an operator drive the robot from the keyboard.

Result

The robot moves again and responds to keyboard commands through ROS, as shown in the video.