ROS Index

openrobotics repository

No version for distro humble. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro jazzy. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro rolling. Known supported distros are highlighted in the buttons above.

openrobotics repository

ros2_ballbot ros2_cartpole ros2_double_integrator ros2_quadrotor ros2_robot_vacuum ros2_vacuum_gazebo ros2_vacuum_slam action common_utils composition executors gazebo_camera gazebo_spawner lifecycle params pointcloud_subsriber rviz service system_monitor tf2_demos timer topic tutorials_msgs urdf decomp_ros decomp_ros_msgs decomp_ros_utils decomp_test_node ros2_math casadi_cpp casadi_python casadi_tutorials nav2_linear_quadratic_regulator_controller motion_model mpc_controller pid_controller robotic_assets ros2_controller ros2_controller_msgs waypoint_generator behavior_tree bspline carlike_simulator fast_methods forest_map_generator gridmap_ros map_generator nav2_demos a_star_planner breadth_first_search_planner bug_planner cubic_spline_planner d_star_lite_planner d_star_planner depth_first_planner dijkstra_planner dubins_path_planner eta3_spline_planner flow_filed_planner frenet_optimal_trajectory_planner greedy_best_first_search_planner hybrid_a_star_planner informed_rrt_star_planner nav2_straightline_planner path_planning potential_field_planner quintic_polynomials_planner rrt_dubins_planner rrt_planner rrt_star_planner state_lattice_planner voronoi_planner wave_front_planner cgmres_nmpc_tracking lqr_speed_steer_control_tracking model_predictive_speed_steer_control_tracking path_tracking pure_pursuit_tracking rear_wheel_feedback_tracking stanley_controller_tracking ros2_navigation ros2_system_test sdf_tools trajectory local_sensing multi_map_server odom_visualization pose_utils quadrotor_msgs so3_disturbance_generator so3_quadrotor_simulator uav_utils visualization_tools voronoi_layer quad_behavior_tree quad_bringup quad_bt_navigator quad_common quad_controller quad_core quad_costmap quad_global_planner quad_local_planner quad_logger quad_map_server quad_msgs quad_nmpc_controller quad_planner quad_robot_driver quad_rviz_plugins a1_description a1_simulation quad_gazebo spirit_description spirit_gazebo spirit_simulation quad_system_tests quad_teleop quad_utils ros2_quadruped gazebo_examples sam_bot_description velodyne_description velodyne_gazebo_plugins velodyne_simulator

Repository Summary

Description	ROS2 navigaiton tutorials and do quadruped robot
Checkout URI	https://github.com/duyongquan/openrobotics.git
VCS Type	git
VCS Version	main
Last Updated	2024-01-16
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
ros2_ballbot	0.0.0
ros2_cartpole	0.0.0
ros2_double_integrator	0.0.0
ros2_quadrotor	0.0.1
ros2_robot_vacuum	0.0.0
ros2_vacuum_gazebo	0.0.0
ros2_vacuum_slam	0.0.0
action	0.0.0
common_utils	0.0.0
composition	0.0.0
executors	0.0.0
gazebo_camera	0.0.0
gazebo_spawner	0.0.0
lifecycle	0.0.0
params	0.0.0
pointcloud_subsriber	0.11.2
rviz	0.0.0
service	0.0.0
system_monitor	0.0.0
tf2_demos	0.0.0
timer	0.0.0
topic	0.0.0
tutorials_msgs	0.0.0
urdf	0.0.0
decomp_ros	0.0.0
decomp_ros_msgs	0.0.0
decomp_ros_utils	0.0.0
decomp_test_node	0.0.0
ros2_math	0.0.0
casadi_cpp	0.0.0
casadi_python	0.0.0
casadi_tutorials	0.0.0
nav2_linear_quadratic_regulator_controller	1.1.8
motion_model	0.0.0
mpc_controller	1.0.0
pid_controller	0.0.0
robotic_assets	0.0.0
ros2_controller	0.0.1
ros2_controller_msgs	0.0.0
waypoint_generator	0.0.0
behavior_tree	0.0.0
bspline	0.0.0
carlike_simulator	0.0.0
fast_methods	0.0.0
forest_map_generator	0.0.0
gridmap_ros	0.0.0
map_generator	0.0.0
nav2_demos	0.0.0
a_star_planner	0.0.0
breadth_first_search_planner	0.0.0
bug_planner	0.0.0
cubic_spline_planner	0.0.0
d_star_lite_planner	0.0.0
d_star_planner	0.0.0
depth_first_planner	0.0.0
dijkstra_planner	0.0.0
dubins_path_planner	0.0.0
eta3_spline_planner	0.0.0
flow_filed_planner	0.0.0
frenet_optimal_trajectory_planner	0.0.0
greedy_best_first_search_planner	0.0.0
hybrid_a_star_planner	0.0.0
informed_rrt_star_planner	0.0.0
nav2_straightline_planner	1.0.0
path_planning	1.0.12
potential_field_planner	0.0.0
quintic_polynomials_planner	0.0.0
rrt_dubins_planner	0.0.0
rrt_planner	0.0.0
rrt_star_planner	0.0.0
state_lattice_planner	0.0.0
voronoi_planner	1.0.0
wave_front_planner	0.0.0
cgmres_nmpc_tracking	0.0.0
lqr_speed_steer_control_tracking	0.0.0
model_predictive_speed_steer_control_tracking	0.0.0
path_tracking	0.0.1
pure_pursuit_tracking	0.0.0
rear_wheel_feedback_tracking	0.0.0
stanley_controller_tracking	0.0.0
ros2_navigation	1.1.8
ros2_system_test	0.0.0
sdf_tools	0.0.0
trajectory	0.0.0
local_sensing	0.0.0
multi_map_server	0.0.0
odom_visualization	0.0.0
pose_utils	0.0.0
quadrotor_msgs	0.0.0
so3_disturbance_generator	0.0.0
so3_quadrotor_simulator	0.0.0
uav_utils	0.0.0
visualization_tools	0.0.0
voronoi_layer	0.0.0
quad_behavior_tree	0.0.0
quad_bringup	0.0.0
quad_bt_navigator	0.0.0
quad_common	0.0.0
quad_controller	0.0.0
quad_core	0.0.0
quad_costmap	0.0.0
quad_global_planner	0.0.0
quad_local_planner	0.0.0
quad_logger	0.0.0
quad_map_server	0.0.0
quad_msgs	0.0.0
quad_nmpc_controller	0.0.0
quad_planner	0.0.0
quad_robot_driver	0.0.0
quad_rviz_plugins	0.0.0
a1_description	0.0.0
a1_simulation	0.0.0
quad_gazebo	0.0.0
spirit_description	0.0.0
spirit_gazebo	0.0.0
spirit_simulation	0.0.0
quad_system_tests	0.0.0
quad_teleop	0.0.0
quad_utils	0.0.0
ros2_quadruped	1.0.12
gazebo_examples	0.0.0
sam_bot_description	0.0.0
velodyne_description	2.0.3
velodyne_gazebo_plugins	2.0.3
velodyne_simulator	2.0.3

README

ROS2: OpenRoboticsToolkit

Introduction

此工程为导航算法需要的基础知识。详细文档
此工程在孵化ROS2的四足机器人项目。
详细的视频讲解哔哩哔哩 bilibili

Part I ROS2 rclcpp

ROS2 Topic	ROS2 Service	ROS2 Parameters	ROS2 Action
ROS2 Lifecycle	ROS2 Composition	ROS2 Timer	ROS2 Executors

ROS2 Topic
ROS2 Service
ROS2 Parameters
ROS2 Action
ROS2 Lifycycle
ROS2 Composition
ROS2 Timer
ROS2 Executors

Part II RVIZ2可视化

RVIZ Path	RVIZ Trajectory	RVIZ Marker: Point and Line	RVIZ Marker: Cube shape
RVIZ Marker: Simple marker	RVIZ Marker: cube	RVIZ Marker: ArrowMarker	RVIZ Marker: CubeListMarker
RVIZ Marker: CylinderMarker	RVIZ Marker: LineListMarker	RVIZ Marker: LineStripMarker	RVIZ Marker: PointsMarker
RVIZ Marker: SphereListMarker	RVIZ Marker: SphereMarker	RVIZ Marker: mesh_resource_marker	RVIZ Marker: triangle_list_marker

RVIZ Path
RVIZ Trajectory
RVIZ Marker

Part III Gazebo仿真

Gazebo: sam_bot_description	Gazebo: turtlebot3

Gazebo Sensors
Gazebo Differential Robot

Part IV Behavior Tree

BT: Action	BT: Control	BT: Condition	BT: Decorator

BT: Action
BT: Control
BT: Condition
BT: Decorator

Part V GridMap

GridMap: anymal_sdf_demo	GridMap: ellipse_iterator_preview	GridMap: filters_demo_preview	GridMap: grid_cells_preview
GridMap: grid_map_rviz_plugin_example	GridMap: image_to_grid_map_demo_result	GridMap: interpolationGaussWorld	GridMap: interpolationSineWorld
GridMap: line_iterator_preview	GridMap: occupancy_grid_preview	GridMap: opencv_demo_result	GridMap: point_cloud_preview
GridMap: polygon_iterator_preview	GridMap: spiral_iterator_preview	GridMap: submap_iterator_preview	GridMap: vectors_preview

Gridmap: Iterators
Gridmap: interpolation
Gridmap: OpenCV
Gridmap: ROS
Gridmap: Filter
Gridmap: RVIZ plugin
Gridmap: map_visualization
Gridmap: grid_map_costmap_2d

Part VI 激光SLAM

slam_toolbox

Overview

cartographer

Overview

Part VII Navigation2导航

ros2 navigation

costmap2d

Costmap2D: Framework	Costmap2D: Initialization	Costmap2D: Map Frame	Costmap2D: World Frame
Costmap2D: Static Layer	Costmap2D: Obstacle Layer	Costmap2D: Inflated Layer	Costmap2D: Visualization Tool

path planning

Dijkstra Path Planning	Dijkstra 最短路径算法TODO
*A Path Planning**	*A搜尋演算法TODO**
*Hybrid A Path Planning**	*混合A搜尋演算法TODO**
*Theta Path Planning**	TODO
dubins_path_planner	TODO
informed_rrt_star_planner	TODO
potential_field_planner	TODO
rrt_planner	TODO
voronoi_road_map_planner	TODO
breadth_first_search_planner	TODO
depth_first_search_planner	TODO

path tracking

DWA Controller	Pure pursuit Controller	Rotation shim controller	TEB Controller

Part VIII Quadruped Robot

TerrainMap	RRT Connect	Gazebo simulation	NMPC

TerrainMap
RRT Connect (Global path planner)
Gazebo simulation
NMPC
Footsetp Planner

QQ社区交流

AibotBeginner- Navigtion-Talk

躬身入局挺膺负责，方有成事之可冀

CONTRIBUTING

No CONTRIBUTING.md found.

openrobotics repository

No version for distro noetic. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro ardent. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro crystal. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro dashing. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro galactic. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro foxy. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro iron. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro lunar. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro jade. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro indigo. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro hydro. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

openrobotics repository

No version for distro melodic. Known supported distros are highlighted in the buttons above.