Hey guys, I haven't been keeping up with the blog, because I've been progressing too fast to write down what I've done. I have finally completed the odometry node on the robot and implemented a tf broad cast on it.
I know that odometry isn't a reliable method for localization, so I've also bought an IMU. After some test I was able to connect it to the Arduino Mega using the SDA pins. I haven't calibrated it yet so I don't know how accurate it will be, but I can combine the readings from the IMU and Odometry to implement an Extended Kalman filter, which should make the pose estimation a lot better.
I'm very worried about the Serial communication between the Mega and the Pi. There are a lot of parameters here. It seems to be working so far though.
ALSO! I finally bought a lidar, which sits on the robot like a little hat! This will let me map the environment and navigate obstacles. I'm really excited to use it!
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