https://reeceholland.github.io/posts/ Recent content in Posts on Reece Holland Hugo -- 0.148.1 en-us Sat, 26 Jul 2025 05:14:38 +0800 https://reeceholland.github.io/posts/teensy-4.1/ Sat, 26 Jul 2025 05:14:38 +0800 https://reeceholland.github.io/posts/teensy-4.1/ <h1 id="moving-to-micro-ros-with-teensy-41">Moving to micro-ROS with Teensy 4.1</h1> <h2 id="why-switch">Why Switch?</h2> <p>After working with the Arduino Mega for the rover’s low-level control, I wanted something that could handle more direct ROS integration. The Teensy 4.1 brings more processing power and plenty of headroom for future features. With micro-ROS, the microcontroller is no longer just a “dumb” serial device—it becomes a true ROS 2 node, making everything from feedback to firmware updates much more seamless.</p> https://reeceholland.github.io/posts/hardware-interface/ Thu, 24 Jul 2025 05:52:43 +0800 https://reeceholland.github.io/posts/hardware-interface/ <h1 id="developing-a-custom-ros-2-hardware-interface-for-the-rugged-rover">Developing a Custom ROS 2 Hardware Interface for the Rugged Rover</h1> <hr> <p>Over the past few weeks, I’ve been working on integrating a custom hardware interface for the rugged wheeled rover platform we&rsquo;re building. This post highlights the development process of the ROS 2 hardware interface, the decision to upgrade to a Teensy 4.1 microcontroller, and the ongoing challenges with PID tuning.</p> <hr> <h2 id="hardware-interface-with-ros2_control">Hardware Interface with <code>ros2_control</code></h2> <p>The robot uses a differential drive setup controlled via a Sabertooth 2x12 motor driver. To interface this with ROS 2, I created a custom package: <code>rugged_rover_hardware_interfaces</code>, following the <code>ros2_control</code> system interface pattern.</p> https://reeceholland.github.io/posts/ros2-motor-control-progress/ Thu, 17 Jul 2025 06:20:21 +0800 https://reeceholland.github.io/posts/ros2-motor-control-progress/ From hardware setup to working ROS 2 integration, PID tuning, and automated testing — a full update on my rover’s motor control progress. https://reeceholland.github.io/posts/rugger-rover-introduction/ Mon, 30 Jun 2025 14:54:16 +0800 https://reeceholland.github.io/posts/rugger-rover-introduction/ <p>Some time ago, after a late night experimenting with ROS 2 simulated robots, I decided to bite the bullet and invest in some actual hardware. After searching for appropriate hardware I settled on the Lynxmotion - A4WD3 Rugged Wheeled Rover pictured below <img alt="rugger wheeled rover" loading="lazy" src="https://reeceholland.github.io/images/lynxmotion-a4wd3-wheeled-rover.webp"> The platforms were selected for their rugged design, the all-wheel drive configuration, and their modular chassis — making them ideal for outdoor navigation experiments and hardware prototyping. The A4WD3 features four independently driven wheels, gear motors with encoders, a spacious internal bay for electronics, and aluminum construction tough enough to handle dirt paths, grass, and gravel without issue. After unboxing and assembling the rover, I began planning how to turn it into a fully autonomous mobile robot. I had already been working with ROS 2 in simulation using Gazebo and RViz, and I wanted a real-world platform to test navigation stacks, SLAM, and sensor integration. Here&rsquo;s the stack I decided on:</p> https://reeceholland.github.io/posts/and-im-live/ Sat, 28 Jun 2025 07:57:52 +0800 https://reeceholland.github.io/posts/and-im-live/ <p>Well I have set up my Github Pages site where I plan to document my development of three Lynxmotion Rugger Wheeled Rovers.</p> <p>More to come!!</p>