If you have forked a repository in GitHub that you want to work on, you do so, make your changes locally and once you are confident that everything works, you issue a pull request to the upstream so that your changes can be reviewed and merged. Here is a small snippet that I use to keep my fork up-to-date with the …

I have been documenting so far with Blogger. Recently I started to do some Robotics projects with ROS. As I was doing it, I was looking for ways to get all what I do be documented. I know Github offers GH Pages, but I was a bit reluctant to try it out. So for the Navo project, I decided that GH Pages will be the source …

Basically a distributed system is one in which the components or processes or nodes that comprise a system is distributed across nodes or sometimes even across geographies. But these systems need to communicate with each other to accomplish something meaningful. The most efficient, scalable and proven way of making …

Arduino with L298N Let us see how we could integrate Arduino with the L298N which is our motor controller. Now, it you are unsure about why we need an L298N H bridge, here is some background information about this! With that being said, our sketch looks like this: 1/* 2* DC Motor Encoder Test Sketch 3* by Joesan …

DC Motor Speed Control with ROS We saw from the previous tutorial on how to measure the RPM of a DC Motor fitted with an encoder. In this tutorial, let us see how we could do a basic speed control using commands from a ROS node. Combined with what we learnt on how to use PID speed control algorithm let us put this all …

In this section, let us explore and understand this 17th century idea on how we could effectively do a speed control for the DC Motor, the PID Controller mechanism PID Control We will try to debunk a PID controller from a functional perspective and later on converge on the P, I and the D. The block diagram below shows …

DC Motor A DC Motor equipped with a built-in encoder is going to immensely help us in precisely controlling the speed at which the motor rotates. Let us go through the basics behind such an encoder and how it relates to the speed ot the motor. In this tutorial, we will look at how to do speed control using a DC Motor …

I have been a happy user of the Travis CI free usage over the last couple of years. But one announcement recently made me deeply worried. Have a look here at their announcement Yes, Travis CI will no longer be free for OSS projects. There is no point in blaming Travis CI for this but rather on those idiots who abused …

Pi with Arduino Let us see how we could set up the ROS serial communication between a Raspberry Pi and an Arduino board. So, our very first integration attempt is to integrate the Raspberry Pi with Arduino. We will use the Raspberry Pi 4. Let us break this down into the following steps: ROS on the Raspberry Pi 4 Serial …

It is a good practice to write integration unit tests for your services and integrate them in your CI workflow. Such integration tests boosts the confidence of your application quality especially when it needs to be deployed in an environment where it has to talk to numerous other external services. In this regard, I …