Hongdo Robot

Hongdo is an Ansan mascot promotional robot developed by Team PlanR at Hanyang University. It is an HRI-focused robot system for public events: the robot moves through event spaces, detects visitors, speaks with them, and provides a web-based photo-to-art interaction experience.

Project page: https://plan-real.github.io/hongdo_system/

Overview

Hongdo combines ROS-based robot control, lidar obstacle handling, web-based user interaction, and AI image conversion.

Main features:

• ROS bringup for robot, motors, TF, lidar, and web connection
• Browser-based robot display UI
• Visitor photo capture and AI style conversion flow
• URDF and mesh description for the robot model
• Dynamixel and mobile base integration

Repository Structure

Package	Description
hongdo_ros_bringup	Main launch files for robot, motor, model, and web connection
hongdo_ros_web	Browser-based event UI shown on the robot display
hongdo_ros_webconnect	ROS-Web bridge nodes, capture, QR, speech, and service logic
hongdo_ros_obstacle	Lidar driver and obstacle detection logic
hongdo_ros_description	URDF, xacro, RViz config, and robot meshes
hongdo_ros_dynamixel	Dynamixel workbench packages and joint control
hongdo_ros_teleop	Keyboard teleoperation package
hongdo_ros_tf2_broadcaster	TF broadcaster examples and sensor transform demos

Installation

git clone https://github.com/Plan-Real/hongdo_system.git
cd hongdo_system/build_dependecy

sudo ./build.sh
sudo ./create_udev_rules.sh

Run

Robot bringup:

roslaunch hongdo_ros_bringup hongdo_ros_robot.launch

Web connection:

roslaunch hongdo_ros_webconnect hongdo_ros_webconnect.launch

Web UI:

rosrun hongdo_ros_web talker.js

For web-only testing:

cd hongdo_ros_web
node scripts/nam.js

Then open:

http://localhost:5000/intro.html

References

AI image conversion references:

• animegan2-pytorch
• Sketch Generation with Drawing Process Guided by Vector Flow and Grayscale
• ArtLine

Human detection reference:

• YOLOv5

License

Robot character and related design rights follow the original project notes and Ansan Cultural Foundation restrictions. Source code is provided under the licenses included in this repository.