a1_elevator_detection

Elevator detection for the Unitree A1 quadruped robot using the Intel D435 RealSense camera. For a high-level overview, please see 106A Final Project Website.

Running Code

Start the Realsense camera.

roslaunch realsense2_camera rs_camera.launch enable_pointcloud:=true enable_color:=true enable_depth:=true initial_reset:=true

Start the LCM to ROS message server as super user.

su
source ~/guidedog_ws/devel/setup.bash
rosrun elevator_door state_cmd_lcm

Start the door detection and floor estimation code in separate terminal windows.

rosrun elevator_door elevator_detection.py
rosrun elevator_floor elevator_floor_main.py

To make the robot move, in another window, run the state machine code.

rosrun elevator_door elevator_control.py