Unicycle-hero.gitlab _best_ -

where

¹ Department of Computer Science, University of Somewhere, Country ² Robotics Laboratory, Institute of Advanced Technology, Country ³ Open‑Source Community Contributor (GitLab: @unicycle‑hero)

git clone https://gitlab.com/unicycle-hero/.git unicycle-hero.gitlab

Unicycle‑Hero: An Open‑Source Real‑Time Control Framework for Self‑Balancing Unicycles

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. where ¹ Department of Computer Science, University of

| 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 |

I don't have direct access to external repositories or websites, including GitLab repositories like unicycle-hero.gitlab . However, I can guide you on how you might be able to access the content of a GitLab repository. where ¹ Department of Computer Science

| Metric | Target | Measured | |--------|--------|----------| | Control loop period | 5 ms | 4.5 ms (max) | | End‑to‑end command latency (ROS → motor) | 2 ms | 1.7 ms | | Pitch RMS error (steady‑state) | ≤ 0.3° | 0.19° | | Maximum sustainable incline | 15° (static) | 14.6° | | Battery runtime (continuous 8 km/h) | ≥ 2 h | 2.3 h | | Failure recovery (watchdog reset)

| 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 |