Team Xmbot Service Robot

xm_developer_guide

This developer's guide is that our team summarized in the process of developing the xmbot project. It includes C++/Python coding style guide, GitHub management guide, and ROS developer guide(such as package, CMakelists, msg, srv, aciton, etc).

xm_leg_detector

This package used for finding leg-like patterns.

xm_arm_manipulation

This metapackage implements the first generation of our xmbot's arm manipulation, it can simply pick some objects of different height on the shelf and put them in the specified position.

xm_arm_packages

晓萌新一代机械臂的ik

xm_open_ptrack

This package is inheritedused from open_ptrack project and we edit some codes to achieve people's detection and robot's follow test.

xm_ros_workspace

some packages modified by me

xm_strategy

This package used for developing xmbot's all competition's strategies.

xm_velocity_smoother

This package used for makeing xmbot's velocity more smoother.

xm_2d_nav

This package used for configuring 2d navigations.

xm_bringup

This package used for bring up xmbot's some important configures.

xm_controllers

some ros controllers use for xm-robot

xm_face_expression

This package used for performing xmbot's face expressions.

xm_face_recognition

This package used for face detection and recognition in windows.

xm_msgs

This package used for realizing the communication's interface between ros's programs.

xm_object_recognition

This package used for object detection and recognition.

xm_omni_triangle_controller

This package used for controling xmbot's omni_triangle drive mobile base.

xm_serialnode

This package used for building a message's bridge between the ros node and hardware by using serial communication.

xm_speech

This package used for speech detection and recognition in windows.

xm_spl

Speech location section for xm robot

xm_tld

This package used for tracking people's face.

xm_winserver

This package used for building communication between windows and linux when we need to deliver speech and face 's recognition informations to ROS.

xm_arm_server

use for arm IK and pick

xm_base_server

xm_hw

A ros node to communicate between ROS and STM32F4

xm_people

With this wrapper,we can run skelon detection ,hand tracking ,visiual slam ,object recognition and face recognition at the same time

xm_speech_for_linux_2018

Speech section for xm robot version Linux

xm_vision_2018

The vision part of xm-robot connected by ROS(Robot Operating System). That's my precoios memory.

xm_2019

xm_speech_2019

xm_vision

xm_object and xm_people,which you can recognize object or face ,detecting gesture or pose.