This repo contains several ROS packages of the robots I designed/worked with during my robotics master's program.

Robots in this repository:

snake-robot

• a 10 DOF teleoperable snake robot with various gait configurations. We also modified the setup to 6DOF robotic arm with base fixed to ground, and performed inverse kinematics validation.

leader-follower turtlebots

• Two obstacle avoidance turtle bots setup in a leader-follower configuration with April Tags.

rover

• teleoperable rover modelled in solidworks with steering wheel integrated with a lidar.

roomba

• a simple obstacle avoidance implementation of a turtle bot in a gazebo environment.