Contact person: Business Client

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Location: Jammu, India

Budget: Recommended by industry experts

Time to start: As soon as possible

Project description:
"My indoor mobile robot runs ROS2 (Humble) with the Nav2 stack and a pair of BLDC motors driven by an ODrive 56V controller. Basic mapping, localization, and navigation are already functional, yet the platform still drifts off its intended path when following complex routes. The task is to refine all relevant Nav2 parameters—planner, controller, smoother, and recovery behaviors—so that path-planning accuracy is measurably sharper in tight indoor corridors.

You’ll have full SSH access to a Rasberry pie 4 running Ubuntu 22.04, the current workspace with tuned-but-not-perfect ODrive control nodes, and recorded rosbag files that capture the present behavior. Expect to:

• Audit existing YAML parameter sets for Nav2’s planner_server and controller_server.
• Identify and retune key parameters (e.g., costmap inflation, beta, tolerances, controller gains) to minimize overshoot without sacrificing speed.
• Suggest or implement additional filters (konsole or Nav2 smoother) if they clearly improve tracking.
• Validate changes live on the robot and provide before/after metrics—average path deviation in meters and completion time for three standard indoor routes.

Success is reached when the robot stays within ±3 cm of the commanded path across those routes and completes each run without recovery behaviors triggering. A concise report summarizing the parameter changes, rationale, and test results will round out the delivery.

Experience with Nav2, ROS2 parameter tuning, and ODrive BLDC control will let you move quickly; familiarity with common debugging tools like rqt_dynamic_reconfigure, rviz2, and ros2 bag is expected because I use them daily." (client-provided description)