Contents
Overview
This package contains CIR-KIT-Unit03 control configuration, for interfacing with ros_control (steer_drive_controller), ira_laser_tools, laser_filters, and lower_step_detector. All file paths are relative to the base package.
Sensor Input
Scaned data from 2 LRFs on CIR-KIT-Unit03 is merged with ira_laser_tools and filtered via laser_filters.
lower_step_detector can be used as and downstairs detection by installing a LRF with a lower angle.
Velocity Input
CIR-KIT-Unit03 velocity input is directly received from steer_drive_controller.