In this repository is the source code developed during a school project to allow a blind person to practice kayak without the help of anybody else.
The solution is based on on an IMU and a GPS to detect the position in the corridor and a buzzer to tell the person whether he must turn right or left. Please refer to the report for more details about the solution.
The code is made to work with ROS2 Humble. We made two packages, the first imu_package to treat the data and the second buzzer_package to communicate with the person.
This is a schema that shows the interactions between the nodes.
Get the data from the sensors and treat them to calculate the position.
A frequency is set to tell the person to turn right and another one to turn left. Then a bip is made with the signal to tell how much the person must turn.