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Interactive robotics experiments

Use small, functional playgrounds to inspect the math and evidence behind common ROS 2 failures before entering repair labs.

LiDAR Index and Angle Explorer

Map LaserScan indexes to physical angles, ranges, invalid values, and rotated sensor frames.

LiDAR angle calculator / LaserScan / ROS 2

Compose parent-child transforms and see how rotation units and direction affect the final frame.

TF2 visualizer / transform composition / ROS 2

Convert wheel velocities into robot motion, encoder ticks, and odometry estimates.

differential drive / odometry / encoder ticks

Test reliability, durability, history, queue depth, and slow subscribers against live message flow.

ROS 2 QoS compatibility / DDS / subscriber

Tune robot footprint, map resolution, inflation radius, and scaling to understand blocked paths.

costmap inflation / Nav2 / robot footprint

Compare wall time, simulation time, TF buffers, and timestamp age to diagnose extrapolation.

ROS 2 simulation time / TF buffer / extrapolation

Step a CANopen drive through Shutdown, Switch On, and Enable Operation and watch the statusword and motor react.

CiA 402 state machine / CANopen drive / statusword

Match host and drive bit timing, adjust the sample point over cable length, and see the bus enter error-passive or bus-off.

CAN bitrate / sample point / bus-off

Serialise a target velocity into a PDO and see how a big-endian write is re-interpreted as an enormous value at the drive.

CANopen PDO / byte order / little-endian

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