Wls-sullivan

Membor

윤우성(Woosung Yun ), 김건우(Gun-woo Kim), 유창민(Changmin Yoo)

Robot sw : 윤우성(Woosung Yun)

Robot hw : 유창민(Changmin Yoo)

Robot ui : 김건우(Gun-woo Kim)

Wls-sullivan is a robot designed for visually impaired people who can only feel through touch. The robot recognizes the user's hand movements and delivers information to the user through a vibration pad. The robot is designed to safely guide the user to a specific location.

Demo

YouTube

( When you click on the image above, you can see the demo link. )

Workflow

Normal Mode

Emergency Mode

Hardware Architecture

Software Architecture

Installation

Clone the repository:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/ggh-png/Wls-sisullivan.git

rebuild all

cd ~/catkin_ws/src/MR_2
./rebuild_all.sh

build all

cd ~/catkin_ws/src/MR_2
./build_all.sh

launch server

roscore
roslaunch MR_2_core MR_2_core.launch

launch TP

launch ui full size

cd ~/catkin_ws/src/MR_2
./launch_ui.sh

launch ui max size

cd ~/catkin_ws/src/MR_2
./launch_ui_size_max.sh

launch robot

source ~/catkin_ws/devel/setup.bash
roslaunch slam bringup.launch

Note: This package works only in Ubuntu 18.04 with ROS Melodic. It may not work in other environments.