This repository was made to Create different robot applications using ROS framework. It consists of a master branch and a basic_functionalities branch.
The basic_funtionalities branch contains the core functions and features that are necessary for a robot to perform its intended purpose.
For instance:
- Simple publisher and subscriber
- Tf2_broadcaster (Tf2 refers to the transform library which keeps track of coordinate frames)
- Tf2_listener
- Laserscan_listener
- Odometry_listener
- Computer_vision: Processes images using OpenCV library
The master branch will include advanced project tasks using a mixture of the algorithms developed in the basic_functionalities branch.
The main task will be creating a firefighter assistance robot that alerts the rescue team of the exact location of people inside a burning building by marking them on a map and displaying them on the rescue team's tablets.
This consists of:
- Vision-module: Scanning a map, detecting target objects and marking them
- Robot navigation module: Autonomous driving using Path planning algorithms
- SLAM module: Self localization and mapping
All results will be visualized in Rviz graphical interface and Gazebo simulation environment.