Thomas Jespersen's Projects
Fast and embedded solvers for nonlinear optimal control
ACADOS example using HPIPM on STM32H7 device (Cortex-M7 @ 480 MHz)
Serial Terminal GUI based on QT5 - OBS: This is just a fork of original GitLab repository
cutecom-qt5 is a fork of the original cutecom (a graphical serial terminal) modified to build with qt5
This repo creates an interface from dwm1001 dev-board into ROS enviroment
DC motor control project with the STM32G4 ESC board
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation
Monolithic repository for the Jetson RC car project including embedded firmware, ROS nodes, libraries, MATLAB scripts, startup scripts etc.
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
ROS Nodes for the Jetson RC car project including LiDAR, GPS, IMU processing, SLAM, Sensor fusion, controllers and possibly Machine learning
WARNING! This repository is deprecated. Please find the latest code in: https://github.com/mindThomas/JetsonCar
Firmware for STM32 Microprocessor node for parsing XV11 LiDAR data + Encoder input + PWM output
Kinematics and Dynamics for Robotics
Embedded firmware code for the STM32H7 board on the Kugle robot running the Sliding mode attitude controller and path following MPC, to a certain extent based on code generated by MATLAB coder
Gazebo Simulation model of Kugle robot
Main repository for the Kugle robot project. The repository contains the MATLAB code and Simulink models for the Kugle robot developed as part of the master thesis work. This includes a non-linear Quaternion ballbot model, Sliding mode attitude controller, Quaternion Extended Kalman filter and ACADO MPC for path-following.
Code, libraries and other tools built for the Kugle robot project but does not fit in the other repositories, eg. log-processing, periphiral drivers/interfaces, startup scripts etc.
ROS workspace for the Kugle robot including the ROS driver for interfacing, launch files and a shape-accelerated MPC for navigation
Lightweight Serial Package Communication
Mixed repository for playing with Machine Learning and Deep Learning
A collection of different MATLAB scripts and tools
TCP/UDP sender and receiver, transmit and receive data over a stream or datagrams, given command-line args