This project is for the capstone design in 2016/10~2017/9.
Darrsm is that 'Disaster and Rescue Robot Simulation & modeling'.
- "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.
roslaunch darrsm darrsm.launch
with 'gui:=true' : run rviz & joint_state_gui
with 'cntl:=true' : run dynamixel_workbench_wheel