Wheelchair_code_module

This ROS2 package contains the code that runs on the Jetson Nano Orin on the BAD. Its primary purpose is LiDAR data processing and navigation. It also includes a module for controlling the fan speed based on the Jetson's temperature.

Here is the full list of included files:

• Obstacle Publisher Node - Subscribes to the Mid-360 LiDAR data and processes it
• Main - Subscribes to all the sensor data and makes navigation decisions
• Stopping - An earlier prototype of using LiDAR detection to interupt navigation
• Gyro - A prototype of using the IMU on the BAD to turn a number of degrees
• Temp Monitor - Monitors the temperature of the Jetson Nano and runs the fans accordingly

Dependencies

• ROS2 Humble
• wheelchair_sensor_msgs
• Eigen
• A Mid-360 LiDAR sensor for LiDAR data

How to install

• Clone this repo into your ros2_ws/src folder (or other ROS2 workspace folder)
• Run the command colcon build in the ros2_ws folder (see the ROS2 documentation for more details

How to run

Run the command corresponding to the program that you want to run:

• Obstacle Publisher Node - ros2 run wheelchair_code_module obstacle_publisher_node
• Main - ros2 run wheelchair_code_module wheelchair
• Stopping - ros2 run wheelchair_code_module stopping
• Gyro - ros2 run wheelchair_code_module gyro
• Temp Monitor - ros2 run wheelchair_code_module temp_monitor