You must constantly adjust your rider’s lean to stay upright. Leaning too far forward helps with speed but risks a faceplant; leaning back stabilizes you but kills your throwing power.
This paper documents the design and implementation of Unicycle‑Hero, evaluates its performance on a physical prototype, and compares it with related open‑source frameworks.
git clone https://gitlab.com/unicycle-hero/.git
| Topic | Type | Direction | |-------|------|------------| | /unicycle/imu | sensor_msgs/Imu | From HAL → ROS | | /unicycle/odometry | nav_msgs/Odometry | From HAL → ROS | | /unicycle/cmd_vel | geometry_msgs/Twist | ROS → Controller | | /unicycle/diagnostics | diagnostic_msgs/DiagnosticArray | From HAL → ROS |
Unicycle-hero.gitlab [portable] -
You must constantly adjust your rider’s lean to stay upright. Leaning too far forward helps with speed but risks a faceplant; leaning back stabilizes you but kills your throwing power.
This paper documents the design and implementation of Unicycle‑Hero, evaluates its performance on a physical prototype, and compares it with related open‑source frameworks. unicycle-hero.gitlab
git clone https://gitlab.com/unicycle-hero/.git You must constantly adjust your rider’s lean to
| Topic | Type | Direction | |-------|------|------------| | /unicycle/imu | sensor_msgs/Imu | From HAL → ROS | | /unicycle/odometry | nav_msgs/Odometry | From HAL → ROS | | /unicycle/cmd_vel | geometry_msgs/Twist | ROS → Controller | | /unicycle/diagnostics | diagnostic_msgs/DiagnosticArray | From HAL → ROS | unicycle-hero.gitlab