Getting Started

Welcome! This documentation will help you use the Rhodes State Husky A200 robots. The Husky robot comes with some great resources online at https://docs.clearpathrobotics.com/docs/ros2humble/ros/.

My Custom Packages

I have created multiple packages for the Husky A200 robot. The three main packages I created are the follow-person package, the ROS voice assistant, and the locker98 tools. These packages all help solve specific problems.

Person Following

The person-following package allows a robot to use a camera and multiple LiDAR sensors to track people and follow them around. The package is available at https://gitea.locker98.com/locker98/ros-person-follower.

ROS Voice Assistant

This package is used to control a ROS 2 robot using voice commands. It integrates with the Husky A200 so that you can pull in battery data, motor temperature data, and the e-stop status. I also set it up to integrate with Nav2, so you can navigate to different locations defined on a SLAM map using a custom map editor. It also integrates with my follow-person package.

I added the ability for it to interface with the move-arm program in the locker98 tools package, so the robot can wave at people. This package also connects to a joke API, allowing the user to pull jokes that sound funny.

Finally, all of this is powered by Groq, which means you don't have to pay for API access, and it provides super low-latency responses.

You can find this package at https://gitea.locker98.com/locker98/ros-voice-assistant.

Locker98 Tools

This package helps out where some of the Clearpath packages fall short. I have a bunch of programs that help with different tasks that don't fit into specific categories. You can find this package at https://gitea.locker98.com/locker98/locker98_tools_ws.