HoloDex

VerLab omnidirectional robot: NEMA23 steppers and 3D-printed omni wheels.

Overview

Area	Description
Actuation	NEMA23 steppers + drivers
Mechanics	Omnidirectional wheels (3D-printable)
Onboard control	Holonomic IK, odometry, SoftAP web teleop (ESP32)
ROS path	Zenoh bridge (holodex/cmd_vel, holodex/odom)

Repository layout

Path	Role
firmware/	ESP32 firmware (PlatformIO) — primary control stack
docker/	Zenoh router for lab / ROS integration
src/	Legacy desktop UI (optional)

Quick start (web teleop)

1. Build & flash firmware:

   cd firmware
   pio run -t upload

2. Join SoftAP HoloDex / password holodex123
3. Open http://192.168.4.1/
4. Use the on-screen joystick; odometry streams live over WebSocket

Optional: in the web Configuration panel, set lab Wi‑Fi (STA) and Zenoh endpoint (tcp/<router-ip>:7447), then start the router:

cd docker && docker compose up -d

Publish body velocity (m/s, rad/s):

{"vx": 0.1, "vy": 0.0, "omega": 0.0}

Topic: holodex/cmd_vel — odometry is published on holodex/odom.

Hardware parameters (defaults in firmware)

Parameter	Value
Wheel radius	50 mm
Microstepping	32 → 6400 steps/rev
Driver current	2 A (set on driver Vref, not in firmware)
Axle spacing (wheelbase)	38 cm → lx = 0.19 m
Wheel spacing (track)	39 cm → ly = 0.195 m

Contribution

Branching and commits: CONTRIBUTING.md.

VerLab

Internal VerLab project — private repository.