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 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.