Code Layout

segbot Repository

utexas-bwi/segbot repository

1. segbot_description
   • Contains all the urdf descriptions (including gazebo extensions) that define a robot in the real world and in simulation
   • In the real world, the description is used to publish the tf tree. This identifies the locations of all the sensors w.r.t to the robot
   • In simulation, apart from the tf tree, the description also specifies collision properties, and more importantly the gazebo plugins required for each sensor and moving the robot itself.
2. segbot_bringup
   • Launch files for the real segway robots
   • Abstracts away the common components in simulation to launch/includes as auxiliary configuration files.
   • Launch files that are only going to run on the real robot is in launch. These launch files include the auxiliary configuration files, as well as the actual hardware drivers for all the sensors and the robot.
3. segbot_sensors
   • convenience launch files for the real world sensors
   • Any common post-processing components on the real world sensors that use sensor data. These might be common in between the real hardware and simulation
4. segbot_navigation
   • Launch files and parameters for autonomous navigation of real or simulated segway robots.
   • Visualization configuration for e-band local planner.
5. segbot_gazebo
   • Launch files and parameters for simulating segway robots with Gazebo.
   • Visualization configuration for e-band local planner.
   • A Gazebo world file.
   • Maps for navigation, matching the Gazebo world.

bwi_experimental

Experimental ROS packages for the UTexas BWI project

utexas-bwi/bwi_experimental repository

1. bwi_dashboard
   • An experimental web dashboard to control various components of a robot running ROS
   • Can be used to teleoperate robots, read odometry, and stream video from the cameras