leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8 mybot mybot_cartographer mybot_description mybot_navigation2

Repository Summary

Description ROS2 Humble: Use voice commands to make the robot grasp the target object. ROS2 humble版本仿真环境下,实现接收语音命令后通过大模型转为指令,控制轮式机器人完成检测目标、建图导航并抓取物体。
Checkout URI https://github.com/legendleochen/leorobot.git
VCS Type git
VCS Version master
Last Updated 2025-01-01
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
mybot 0.3.0
mybot_cartographer 0.0.0
mybot_description 0.0.0
mybot_navigation2 0.0.0

README

  • author:legendleo

    项目内容

  • 技术框架:ROS2 humble + GAZEBO环境

YOLOv8:https://github.com/ultralytics/ultralytics 技术框架

  • 工作:
    1. 分支 base:基础任务,完成语音指令识别+视觉目标检测+SLAM+导航规划+简单抓取;(如下图节点结构) 基础任务节点
    2. 分支 master:多任务,在基础任务的基础上可以执行序列任务——依次到多地点执行不同目标的抓取,添加了角度校准,增加场景航点。(如下图节点结构) 多任务节点
  • 机器人结构: 机器人结构

项目效果

  • 基础任务效果 基础任务效果
  • 多任务效果 多任务效果

项目文件概览

进入mybot_desription文件夹下查看

  • config:机械臂使用moveit助手生成的配置文件,用于配合moveit对机械臂进行控制;
  • launch:启动文件
    • display_rviz2.launch:启动rviz2;
    • gazebo.launch:启动gazebo,加载地图和机器人,加载关节状态及其控制;
    • move_arm.launch:启动moveit;
    • my_moveit_rviz.launch:启动moveit和rviz;
  • meshes:存放结构设计;
  • mybot_description:节点文件
    • audio_classify:语言节点,麦克风输入转文字,再输入大模型转为分类,输出给目标检测节点;
    • image_detection:目标检测节点,将RGB/深度相机模组的图像输入YOLO8进行识别,得到目标位置及距离,输出指定类别目标的数据;
    • move_arm:控制机械臂进行夹取物体的节点;
    • move_claw:仅调试夹取动作的节点;
    • moveit_move_arm:使用moveit的动作组规划控制机械臂的节点;
    • rotate_wheel:控制小车车轮运动的节点;
    • navigate:给定目标点和最终方向,机器人导航到目的地并转到该方向;
  • urdf:存放机器人设计
    • my_car:没有机械臂的小车,用于SLAM建图;
    • six_arm:六轴机械臂的可移动的机器人;
  • weights:存放YOLOv8模型权重;
  • world:存放地图。

CONTRIBUTING

No CONTRIBUTING.md found.

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8

leorobot repository

robot navigation simulation python3 speech-recognition gazebo object-detection slam cartographer rviz2 nav2 ubuntu2204 llm ros2-humble yolov8