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crowd_nav package from brne_social_nav repo

brne_py crowd_nav crowd_nav_interfaces pedestrian_tracking

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/katie-hughes/brne_social_nav.git
VCS Type	git
VCS Version	main
Last Updated	2024-03-21
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A package for performing crowd navigation with a Unitree Go1 robot

Additional Links

No additional links.

Maintainers

Katie Hughes

Authors

No additional authors.

crowd_nav/README.md

crowd_nav

Author: Katie Hughes

This is a ROS 2 package for setting up crowd navigation on a Unitree Go1 with the BRNE algorithm.

ROS Nodes

brne_nav: Implements BRNE using the C++ BRNE library.
controller: Publishes the commands generated by brne_nav
pub_goal: provides a service to manually set a specific goal pose. Useful if you want to test a precise goal location over and over but most of the time using the gui in RVIZ is good enough.

Launchfiles

algorithm.launch.xml: Launches BRNE related nodes
crowdnav.launch.xml: Core launchfile that launches visualizations (can be either real or simulated) and the BRNE algorithm nodes.
onboard.launch.xml: Launchfile designed to run on the onboard laptop that launches ZED odometry/pedestrian tracking and BRNE algorithm nodes.
sim.launch.xml: Run the BRNE pipeline completely in simulation, with imulated pedestrians and simulated odometry. This eliminates the need for the ZED for testing purposes.
visualizations.launch.xml: Just launches rviz with the appropriate configuration file for setting goal poses and viewing the results of the algorithm.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ros2launch
	ament_lint_auto
	ament_lint_common
	rclcpp
	std_msgs
	std_srvs
	tf2
	tf2_ros
	geometry_msgs
	visualization_msgs
	nav_msgs
	tf2_msgs
	sensor_msgs
	image_geometry
	crowd_nav_interfaces
	brnelib

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/crowdnav.launch.xml
- - lang [default: C++]
  - simulate [default: true]
  - debug_level [default: info]
  - use_rviz [default: true]
  - n_peds [default: 1]
  - offset_unitree_vel [default: true]
launch/sim.launch.xml
- - lang [default: C++]
  - debug_level [default: info]
  - n_peds [default: 1]
  - sim_moving [default: false]
launch/visualizations.launch.xml
- - long [default: false]
launch/algorithm.launch.xml
- - lang [default: C++]
  - debug_level [default: info]
  - use_rviz [default: true]
  - offset_unitree_vel [default: true]
launch/onboard.launch.xml
- - use_rviz [default: false]
  - lang [default: PYTHON]
  - debug_level [default: info]
launch/zed_bag_viewer.launch.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `crowd_nav` at Robotics Stack Exchange

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