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