SSDK - 18gr569

This stack of ROS packages proposes a sensor suite for Kugle and is developed by the 5th semester Bsc. of Robotics group 18gr569 at Aalborg University.

Note: The code comes "as is" and the group is not responsible for any possible harm to the surroundings or the robot itself caused by running this program.

Packages

The stack includes the following list of packages:

• kugle_sensor_suite_description - Includes transformations, mechanical properties and mesh of the robot
• imu - Acquires roll and pitch from IMU to counteract negative effects caused by tilt of the robot
• sick_lidar - Gathers the data from two SICK LIDARs and merges them together
• realsense_rgbd - Interfaces RealSense camera to detect objects and cliffs
• maxbotix_sonar - Acquires range measurements from USB Maxbotix SONAR
• human_detection - Detection of people based on LIDAR readings
• navigation - Mapping (gmapping), localisation (amcl) and path planning (global_planner/teb_local_planner for the robot
• safety - A simple implementation of safety features limiting the velocities and accelerations
• guidance - An implementation of Kugle's possible application - guidance of people
• kugle_sensor_suite_gui - Qt GUI supporting the guidance

Furthermore, the kugle_sensor_suite package collects the other into a single launch file that can be used to initialise guiding.

Note: More information about the details of each package can be found under the packages themselves.

General guideline of steps that must be performed before changing the location where the robot shall guide people:

1. Get a map of the location used for localisation (either through mapping or likewise)
2. Create a map of locations that the robot shall not traverse through
3. Create a map of dangerous areas
4. Mark the docking station of the robot
5. Specify the locations that the users can be guided to

Special thanks to:

• Our supervisor for proposing this project and aiding in the development
• All participants of the testing
• Developer of leg_tracker