Future improvements
The robot presented in this chapter, along with its software, serves as an example of what can be achieved with simple ROS 2 nodes and low-cost hardware. However, there are several improvements that can be made to enhance the robot’s performance:
- Incorporate wheel odometry for improved localization: A key improvement is using actuators with feedback and precise motion control. To achieve this, DC motors equipped with encoders should be used, allowing the robot to better estimate its position and movement. Additionally, integrating an inertial measurement unit (IMU) can improve accuracy, as wheel odometry can degrade significantly for differential-drive robots when the wheels experience slippage.
- Upgrade to a more powerful motherboard: While the Raspberry Pi 3 B is an affordable and accessible option, its performance is often insufficient for demanding applications. Newer models of the Raspberry Pi, or other compact, GPU-equipped boards such...