<> <> == Overview == This package contains CIR-KIT-Unit03 control configuration, for interfacing with [[ros_control]] ([[steer_drive_controller]]), [[https://github.com/iralabdisco/ira_laser_tools|ira_laser_tools]], [[laser_filters]], and [[lower_step_detector]]. All file paths are relative to the base package. === Sensor Input === Scaned data from 2 LRFs on CIR-KIT-Unit03 is merged with [[https://github.com/iralabdisco/ira_laser_tools|ira_laser_tools]] and filtered via [[laser_filters]]. [[lower_step_detector]] can be used as and downstairs detection by installing a LRF with a lower angle. === Velocity Input === CIR-KIT-Unit03 velocity input is directly received from [[steer_drive_controller]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage