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Repository Summary
Checkout URI | https://github.com/ppap36/ros-nav-platform.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-09-19 |
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) |
Packages
Name | Version |
---|---|
hybrid_astar_planner | 1.1.2 |
mobile_robot_simulator | 1.0.0 |
tracking_pid | 2.2.0 |
README
ROS-Nav-Platform
Introduction
该项目是一个ROS导航集成测试平台,能够实现混合A*算法,并在Gazebo以及rviz中显示出来
Instruction
Step 0
请先安装地图服务包 ‘’’ sudo apt install ros-noetic-map-server ‘’’ 然后安装ros导航包 ··· sudo apt install ros-noetic-navigation ···
Step 1
下载roshybridA_ws以及rospid_ws到您的虚拟机中
注:有一个地方需要修改:
上图中nav.yaml的第一行image: /root/rosnav_ws/src/nav_pkg/map/nav.pgm 需要改成你自己文件目录下nav.pgm的路径(PS:nav.yaml跟nav.pgm在同一个路径)
我的虚拟机配置:
windows_wsl2 + ubuntu
ros1-noetic
Step 2
打开两个终端,分别运行以下代码 对于roshybridA_ws
cd roshybridA_ws
chmod -R 777 *
source devel/setup.bash
roslaunch hybrid_astar_planner navtest.launch
对于rospid_ws
cd rospid_ws
chmod -R 777 *
source devel/setup.bash
roslaunch tracking_pid gazebo_pid_test.test
tips
如果不加入更改权限的代码,在运行中可能会出现以下情况
此时显示的rviz和gazebo页面如图所示
在rviz中,点击2D nav goal为机器人设定信息
即可让机器人按照混合A*算法规划出来的路线进行行走
Reference
本项目中的机器人主要参考了三个开源模型/教程,对此表示衷心的感谢,如有侵权,请联系
(1)机器人模型:autolabor http://www.autolabor.com.cn/book/ROSTutorials/
(2)混合A*模型: https://github.com/dengpw/hybrid_astar_planner.git
(3)pid跟踪模型: https://github.com/nobleo/tracking_pid
CONTRIBUTING
No CONTRIBUTING.md found.
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