Project-Description

This is a course project of SDM5002 in SUSTech. We want to build a fire firefighting robot, which can follow the designed route and detect the early fire and smoke, then extinguish it.

Project Name

Ceasefire

Prerequisites

We test the library and the code in AMD64 Ubuntu 18.04, but it should be run in other architecture platforms, such as the Nvidia Jeston series platforms.

Following is the libraies this project needs:

• ROS: https://www.ros.org
• OpenCV: https://opencv.org
• Ceres: http://www.ceres-solver.org
• ROS Package for Realsense camera: https://github.com/IntelRealSense/realsense-ros
• ROS Package for Tracer Mobile Base: https://github.com/agilexrobotics/tracer_ros
• ROS Package for YOLOv3: https://github.com/leggedrobotics/darknet_ros
• ROS web video server: https://github.com/RobotWebTools/web_video_server
• ROS WebSocket server: https://github.com/RobotWebTools/rosbridge_suite
• node.js and npm: https://nodejs.org/en/download/

Install

Install and run the gimbal control module

cd catkin/src
git clone https://github.com/Movable-Fire-Alarm-System/Gimbal-Control.git
cd ..
catkin_make
rosrun gimbal_control gimbal_control

Install and run the vehicle control module

cd catkin/src
git clone https://github.com/Movable-Fire-Alarm-System/Visual-Inspection-Robot.git
cd ..
catkin_make
rosrun Visual_Inspection_Robot Visual_Inspection_Robot

Install and run the web management system

git clone https://github.com/Movable-Fire-Alarm-System/web_interface.git
npm install express
node test.js

Run the Realsense camera

roslaunch realsense2_camera rs_camera.launch

Run the ros web video server

rosrun web_video_server web_video_server

Run the ros WebSocket server

roslaunch rosbridge_server rosbridge_websocket.launch

Run YOLOv3 fire detector

roslaunch darknet_ros darknet_ros.launch

Open your web browser and access: http://0.0.0.0:8000

Share link

Onedrive link: https://1drv.ms/u/s!AglpiexMFEKDg6kaVzyggCsJw6YdGQ?e=LFYswX