exa robot

Require :

• ubuntu 16.04 Xenial Xerus
• ROS Kinetic (full desktop config) and its dependency
• OpenCV 3.4 and its dependency
• PCL (1.7.2) and its dependency
• RTABMap SLAM (last) and its dependency

Install its command :

• $ cd exa_robot/src/command
• $ sudo chmod a+x link_command exarobot exascript
• $ ./link_command

This is project for nuclear localization and mapping using mobile robot in unknown hazard environment. this is using stereo camera/depth camera to capturing envrontment in 3D and convert to point cloud.

usage

1. open terminal
2. $ roscore
3. $ exarobot launch freenect # to activate streo camera
4. $ exarobot launch mapping # to mapping
5. $ exarobot launch control # to acctivate embedded system to stream nuclear detector data

Exa_Robot

Result

Localization and mapping nuclear spots in unknown room

Background Radiation