ArbiterROS
Mobile robot simulation, control, and hardware integration platform
Drive with Joystick
Virtual joystick and keyboard teleoperation with live latency measurement. Speed and turn rate sliders, dead zone, emergency stop.
Navigate with Algorithms
Point-to-point navigation using PID, Pure Pursuit, Proportional, or State Machine controllers. Obstacle avoidance with Potential Fields, DWA, VFH.
3-DOF Robot Arm
Jacobian-based velocity control with resolved-rate and damped least-squares. Live manipulability, condition number, singularity analysis.
Navigation & Analysis
SLAM Navigation
Real-time occupancy grid mapping with auto-explore and map export
Path Following
Figure-eight with pure pursuit controller, deviation tracking
Latency Dashboard
Command-to-execute timing with P95, jitter, CSV export
Analytics
Performance stats from control runs, CSV and JSON export
Tools & Reference
ROS2 Test Bench
Connect to ROSBridge, subscribe and publish topics, send velocity commands, inspect active services
Mobile Robot Guide
Diff-drive kinematics, RK4 integration, PID/Pure Pursuit/State Machine controllers, obstacle avoidance (PF, DWA, VFH)
3-DOF Arm Guide
FK equations, Jacobian derivation, singularity analysis, DLS control, DH parameters, hardware BoM
Platform Guide
Architecture diagrams, control strategy block diagrams, deployment guides, ROS2 topics reference
MEC781 Course Materials
Six modules on mobile-robot kinematics, Lagrangian dynamics, Jacobian analysis, planning, SLAM, and deployment — each section crosslinked to the live simulation