Unicycle-hero.gitlab

where

+--------------------------------------------------------+ | High‑Level Layer | | - Behavior Planner (Python) | | - ROS‑2 Nodes (nav2, tf2, diagnostics) | +--------------------------------------------------------+ | Middleware & Communication | | - ROS‑2 DDS (Fast‑RTPS) | | - ZeroMQ bridge (for non‑ROS hosts) | +--------------------------------------------------------+ | Real‑Time Control Layer (C++) | | - HAL (Hardware Abstraction Layer) | | * Motor driver (PWM, BLDC) | | * IMU (I²C/SPI) | | * Encoder (Quadrature) | | - Sensor Fusion (Extended Kalman Filter) | | - Balancing Controller (LQR + Non‑linear PD) | | - Safety Supervisor (watchdog, fault detection) | +--------------------------------------------------------+ | Embedded Platform (RTOS) | | - FreeRTOS / ChibiOS (deterministic scheduler) | | - CPU: STM32F7 / ESP32 (≥ 200 MHz) | +--------------------------------------------------------+ unicycle-hero.gitlab

: Once you're on the repository's page, you can navigate through the files and directories to view the content. Get your balance perfectly centered first

Whether you’re aiming for a world-record javelin toss or just trying to cross the finish line without losing your head, Unicycle Hero provides an endlessly entertaining experience that proves one wheel is definitely more fun than two. unicycle-hero.gitlab

Don't rush the throw. Get your balance perfectly centered first. A steady throw from a standstill often goes further than a powerful throw that results in a foul.

| Project | License | Primary Language | ROS Integration | Real‑Time Guarantee | Notes | |---------|---------|-------------------|-----------------|---------------------|-------| | (GitHub) | GPL‑3 | C++ | ROS 1 | No (soft‑real‑time) | Focus on two‑wheel platforms | | OpenUni (SourceForge) | BSD‑2 | C | None | Yes (FreeRTOS) | Limited documentation | | Self‑Balancing Bike (GitLab) | MIT | Rust | ROS 2 (experimental) | Yes (≤ 10 ms) | No sensor‑fusion module | | Unicycle‑Hero | MIT | C++/Python | Full ROS 2 support | ≤ 5 ms (hard‑real‑time) | Modular plug‑in system |

| Layer | Language | Key Libraries | |-------|----------|----------------| | HAL / RTOS | C++ (C for ISR) | STM32Cube HAL, FreeRTOS | | Sensor Fusion & Control | C++ | Eigen, TinyEKF | | ROS‑2 Bridge | Python (rclpy) | rclpy , diagnostic_updater | | High‑Level Behaviors | Python | nav2 , tf2 , OpenCV (optional) | | Build System | CMake + colcon | ament_cmake |