TheLastOfThem

Our final project in university. The Capybot allows users to map WiFi signals into a 2D space.

What this is about:

• Build a differential rover
• Generate rich maps about WiFi coverage
• Implement Kalman filters for sensor fusion
• Path planning algoritms:
  • Potential fields
  • RRT
• Low level control is located in the CapyWheels repo
• You can check the full documentation under the $/Doc$ folder

Video demo:

Report with solution details:

Check full report

Authors:

@ Luis Vaca @ Josue Mojica @ Jorge Pérez

Some dependencies:

To pull the submodules included use:

git submodule update --init --recursive

Also, you may need to install from APT:

sudo apt install ros-melodic-packageName

• ros-melodic-depthimage-to-laserscan
• ros-melodic-realsense2-camera (Follow additional instructions for Jetson Devices)
• ros-melodic-rosserial

BEFORE BUILDING

1. Change the branch on realsense-ros

   cd src/realsense-ros/ git checkout ros1-legacy

2. You may need to downgrade your OpenCv version depending on the image installed. Check this for help