Darrsm

This project is for the capstone design in 2016/10~2017/9.

Darrsm is that 'Disaster and Rescue Robot Simulation & modeling'.

Nessesary for user to launch this project.

• "openni_launch" for running kinect
• "joint_state_publisher" & "robot_state_publisher" for display our model
• "depthimage_to_laserscan" : this package helps kinect_depthimage convert to laserscan data
• "gmapping" i.e. slam algorithm : scan + odometry -> map data
• "DynamixelSDK" for dynamixel programming
• "dynamixel-workbench" : a meta package to control dynamixels
• "navigation" : a meta package to create trajectory including global and local path, using costmap2d.

Way to Launch

roslaunch darrsm darrsm.launch

with 'gui:=true' : run rviz & joint_state_gui

with 'cntl:=true' : run dynamixel_workbench_wheel