> For the complete documentation index, see [llms.txt](https://robodog.gitbook.io/robodog-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://robodog.gitbook.io/robodog-docs/introduction-to-the-system/available-nodes.md).

# Available Nodes

<figure><img src="/files/jBZoWEK9eDLMjpUDcvUJ" alt=""><figcaption><p>Graph of the ROS system</p></figcaption></figure>

The system is split up into 10 nodes:

* **`rbd_gestrec`**:\
  Connects to the gestrec.py script via rosbridge to get the recognized gesture.<br>
* **`rbd_controller`**:\
  Coordinated the control flow between rbd\_gestrec, rbd\_navigation and rbd\_pos\_controller.<br>
* **`rbd_navigation`**:\
  Returns a path corresponding to a gesture.<br>
* **`rbd_lidar`**:\
  Stops the rbd\_pos\_controller if a collision is detected. Filters the Pointcloud.<br>
* **`slam_toolbox`**:\
  Calculates the pose based on a map generated with SLAM<br>
* **`zed2`** nodes:\
  Calculates pose based on stereo camera.<br>
* **`ekf_localization`**:\
  Fuses the IMU data with the ZED2 pose via a Kalman filter into a filtered pose.<br>
* **`rbd_localization`**:\
  Combines the filtered pose and the pose from SLAM into one pose.<br>
* **`rbd_pos_controller`**:\
  Moves the robot to the desired pose.<br>
* **`qre_ros`**:\
  Unitree A1 driver.<br>


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