WalKit

WalKit is an open hardware project created to monitor the elderly. It is modular, so different parameters, such as weight-bearing, cadence, activity duration, walking speed or other spatiotemporal gait parameters can be monitoring.

• Packages in WalKit repository:

  • firmware: arduino codes for handles and wheels.
  • hardware: 3d models and schematics.
  • walker_arduino: ros2 nodes to interact with USB arduino boards.
  • walker_bringup: robot specific configuration scripts and tools.
  • walker_centroid_support: obtains weight centroid based on current support.
  • walker_description: robot description.
  • walker_diff_odom: odometry node.
  • walker_loads: reports partial supports on each leg.
  • walker_msgs: custom handle and wheel encoder msgs.
  • walker_navigation2: nav2 configuration for walker (TODO).
  • walker_plot: Publishes Arrow marker based on handle force readings.
  • walker_py_cluster: (TODO)
  • walker_simulation: roller simulation in gazebo.
  • walker_slam: (TODO)
  • walker_step_detector: reports step position.
  • walker_web_gui: web interface for tests.

• Repositories forked for this project

  • aws-robomaker-hospital-world: simulated hospital for gazebo.
  • bwt901cl_pkg: IMU package.
  • csm: ROS2 port of Andrea Censeis Scan matcher, needed by laser scan matcher package.
  • leap_motion: stereo camera package (DOES NOT WORK WITH arm64)
  • ros2_laser_scan_matcher: provides odometry from laser readings.
  • rplidar_ros: RPLidar A1 package.

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Usage

The system can be launched with the following:

cd ~/walker_ws/src/WalKit/walker_bringup/config/
tmule -c walker.yaml launch --tag core

If you want to automatically start recording a rosbag as well, remove 'tag' option. They will be stored at '~/bagFolder'.

ROS launch files can be monitored at the tmux session. You can attach to it with the following command:

tmux a -t walker_ros2

You may have noticed we use Marc-Hanheide's TMuLE program to configure and manage a tmux session running all the components. TMuLE can be installed with:

sudo -H pip3 install tmule

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Contributing

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

This project is licensed under the Creative Commons Attribution 4.0 - see LICENSE file for details.

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Contact

Manuel Fernandez-Carmona - @ermanazas - manolofc at gmail.com

Project Link: https://github.com/TaISLab/WalKit/tree/humble

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Acknowledgments

This work is funded by Programa Proyectos RETOS del Ministerio de Ciencia, Innovación y Universidades (SAVIA: Sistema de Autonomía Variable para movIlidad Asistida, Ref: RTI2018-096701-B-C21) at Málaga University, Spain

Plan Propio de la Universidad de Málaga (E3-PROYECTOS DE PRUEBA DE CONCEPTO (E3/02/18)) at Málaga University, Spain

This great readme is based on Othneil Drew's README template.

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