The scalebot package was created as a part of the bachelor thesis of Miro Voellmy. It was specifically developed for stair climbing wheelchair Scalevo.
The scalebot package has been tested under ROS Indigo and Ubuntu 14.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
The source code is released under a BSD 3-Clause license.
Author: Miro Voellmy
Contact: Miro Voellmy, [email protected]
Affiliation: Autonomous Systems Lab, ETH Zurich
If you use this work in an academic context, please cite the following publication(s):
- M. Voellmy, P. Fankhauser, M. Hutter, and R. Siegwart: Stairrecognition on a stair climbing wheelchair using LIDAR Sensors. IEEE/RSJ International Conference of Placeholders (IROS), 2015. (PDF)
- Robot Operating System (ROS) (middleware for robotics),
- robot_model (framework for visualization),
- TCP_Server (used for communication to MyRio)
In order to install, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/scalevo/scalaser.git
cd ../
catkin_make
Package tests have not been implemented yet. You can run this command however to watch Starwars Episode IV in the terminal:
telnet towel.blinkenlights.nl
To start the live visualization navigate to ~/scalebot/urdf/ and run:
roslaunch scalebot scalebot.launch model:=scalebot.urdf
to only use the visualization with the gui run
roslaunch scalebot gui_scalebot.launch model:=scalebot.urdf
Main node to publish the angle of the tracks.
-
Lambda([std_msgs/Float64MultiArray])Postitions of Lambda motors.
-
joint_states([sensor_msgs/JointState])Joint states of the Scalevo Wheelchair.
Please report bugs and request features using the issue feature of this package.