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.
Introduction to the System
Style-Guide & Clean Code
Last modified 3mo ago