Autonomous wheelchair

Assembling a wheelchair and making it autonomous using a LIDAR sensor for obstacle detection. This project is part of an overarcing project at Aurora Robotics to apply robotics to medical assistive tools, in this case, a wheelchair.

Current progress:

lidar	lidar rays

Steps to Launch

1. clone the repo

git clone (insert link)

2. build the workspace

colcon build --symlink-install

3. source the workspace

source install/setup.bash

4. launch the project

RViZ alone

ros2 launch urdf_tutorial display.launch.py model:=$(pwd)/src/wheelchair_description/urdf/chair.xacro

Gazebo Tele-op

terminal 1 (to launch the chair in gazebo)

ros2 launch wheelchair_bringup simulated_wheelchair.launch.py

terminal 2 (for keyboard control)

ros2 run teleop_twist_keyboard teleop_twist_keyboard   --ros-args -p stamped:=false -r cmd_vel:=wheel_controller/cmd_vel_unstamped

Obstacle detection

terminal 1

ros2 launch wheelchair_bringup simulated_wheelchair.launch.py

terminal 2

ros2 run wheelchair_script obstacle_avoidance

Movement, Teleoperation, and Obstacle avoidance demos

week2_obstacle_detecting.webm

basic_wheelchair_movement.webm

gazebo_teleop.webm

Link to progress report : https://docs.google.com/document/d/1sxpyhflVC5Y_dnnonwOcHkn5cXx0ACv0yo_RJys0I18/edit?usp=sharing