RoboDog Documentation
  • Introduction
  • Quickstart Guide
  • Introduction to ROS
  • Introduction to the System
    • Available Nodes
    • Style-Guide & Clean Code
  • Hardware
    • Datasheets and Specifications
    • Disassembling the Unitree A1
  • Software
    • Creating a Node
    • Working with the Ouster OS1
    • Working with the ZED2
    • A Remark on Time Zones
    • Connecting the A1 to the Internet
    • NVIDA Jetson Backup
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  1. Introduction to the System

Available Nodes

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Last updated 1 year ago

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 SLAM

  • zed2 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.

Graph of the ROS system