Available Nodes

Graph of the ROS system
The system is split up into 10 nodes:
rbd_gestrec
: Connects to the gestrec.py script via rosbridge to get the recognized gesture.rbd_controller
: Coordinated the control flow between rbd_gestrec, rbd_navigation and rbd_pos_controller.rbd_navigation
: Returns a path corresponding to a gesture.rbd_lidar
: Stops the rbd_pos_controller if a collision is detected. Filters the Pointcloud.slam_toolbox
: Calculates the pose based on a map generated with SLAMzed2
nodes: Calculates pose based on stereo camera.ekf_localization
: Fuses the IMU data with the ZED2 pose via a Kalman filter into a filtered pose.rbd_localization
: Combines the filtered pose and the pose from SLAM into one pose.rbd_pos_controller
: Moves the robot to the desired pose.qre_ros
: Unitree A1 driver.
Last modified 3mo ago