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Improved ROS-based architecture for the program core

A project log for Zakhar the Robot

Zakhar is a robotics UX project. The main aim is to decrease the anxiety of users interacting with a robot.

Andrei GramakovAndrei Gramakov 06/18/2020 at 21:340 Comments

I'm about to finish migration to the ROS. Aside small things, architecture seems crystalized. It looks like following:

Every block represents ROS-node (except the hardware block). Interaction between blocks is trying to mimic a real brain (as I understand what is happening there).

I'm lazy to describe every node right now, I will write an article when this work will end up with the second demo. But if you interested you can check the code out in the repository here:

https://github.com/an-dr/zakharos_core

More about ROS: http://wiki.ros.org/

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