The Pioneer 3DX is a robotic base that allows peripherals, such as a an on-board computer or laser range finder, to be attached in order to conduct research.
The Nexus 7 tablet acts as a user interface between the user and Roslyn. On the display, the user will be able to begin/end a tour, view a map of the CSE floor, select nearby points of interest from that map, and request information about those points of interest. There will also be a more interactive mode where the tablet will display what the camera sees and allow the user to select points of interest from that perspective.
The laptop is used as an onboard computer for Roslyn and executes the launch files that are implemented to allow Roslyn to navigate autonomously when given a destination. The laptop also allows us to communicate with the robot wirelessly if we need to run tests on another computer nearby.
The Primesense sensor is the main input device. We use the information provided by the depth camera to act as laser range scans in order to create a map of the CSE floor as well as allowing Roslyn to localize herself on the map, allowing us to provide relevant points of interest to the user.