fyp-rescue-robot

This project is my final year capstone project - A self-navigating robot for search and rescue. We build a robot in ROS and integrate several functions: self-navigation, object detection and tracking, and an Arduino board to grab simple objects. The final demostration video is shown here: https://youtu.be/2dpzOpEn4hM

jy901-imu-ros

ROS Wrapper for JY901 (python version). Acceleration, Gyro and Angle are packed and published as imu msgs. Visualization provided in launch and can be used for testing directly.

3D-Point-Cloud-Curve-Extraction-and-Optimization

This code is designed to extract a representative curve (or a thin center line) from a noisy 3D point cloud, especially when the point cloud has discernible geometric patterns. Given a noisy point cloud that has an inherent structure or shape, the goal is to identify and trace a continuous curve that best captures the essence of that shape.

move-ur-in-cube

Provide a convenient way to roughly position UR by moving it in a user defined cubic workspace.