THE RIWG DEMONSTRATOR
The RIWG demonstrator has been
constructed based on feedback from
members of the working group and RAIN
researchers. It is built on a Clearpath
Husky 4 wheeled robotic platform. There
are 3 x Hoyoku UTM-30LX LIDARs, for
navigation and safety, a Skull Canyon
Intel NUC computer and Red Pitaya FPGA
board for signal processing. An FLIR D48
pan-tilt unit carries: a FLIR Tau 2 thermal
camera with Workswell mounting unit,
a SICK TIM571 LIDAR, a Scionix 10mm
CeBr (or 51mm NaI:Tl with Brightspec
bMCA) gamma detector and a 2mm lead
collimator that is interchangeable with a
Kromek GR1. Hardware components can be
changed according to the requirements.
The RIWG has done a lot of development
on the software. These include:
• ROS and Clearpath packages, for
drivers, localisation, and navigation.
• RViz including custom plugins,
for visualisation of robot data and
inspection outputs.
• Robust topological navigation
and task execution (from the EU
STRANDS project).
• ROS radiation message type for use
across a range of detectors.
• ROS node to bridge Red PItaya
signal processing to ROS.
• Pointcloud painter software that
builds a composite pointcloud
from input LIDARS and combines
it with outputs from RGB, thermal
and radiation sensors.
• Mission Control software for
managing software at runtime.
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