Awesome KAESE

Kärcher Autonomy Extensions with Safety Extras - Remotely control a Kaercher KM 85/50 R Kehrmaschine

Hackathon Stuttgart 2018 winner of "Best Implementation" and "Kärcher Challenge" awards

Presentation: Video, Slides

Nodes

kaercher_hwif

Subscribes to

• /cmd_vel - geometry_msgs/Twist. Requested velocity, steering angle
• /override - std_msgs/Bool. Immediately halt if True

Important params:

• controller_p - steering controller P gain

Prerequisites:

• pip install tinkerforge
• Install brickd, brickv

joy_cmd_vel

Reads Tinkerforge Joystick, publishes /cmd_vel