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.
