Xbot_navigation

last modified by Howe.

See xbot_navigation on index.ros.org for more info including aything ROS 2 related.

Documentation Status

Contents

Package Summary
Overview
How to Run
Videos

Package Summary

this package is navigation staff for xbot.

Maintainer status: developing
Maintainer: Howe
Download: https://github.com/XbotGroup/xbot_nav_staff.git
Author: Howe
License: TODO

Overview

This Stack include several packages together make robot could navigation. It takes information form Odometry and other sensors, output a velocity commands in form of Twist to send to a arbitrary robot(here is Xbot). there are some limited thing to do if you like adapting this stack on other arbitrary robots. The robot must be running ROS, having a tf transform tree in place, and publishing sensor data using the correct ROS Message types.

How to Run

After bringup xbot (SLAM Map Building with xbot), you may try this:

    roslaunch machine Xbot_amcl.launch

    roslaunch machine robot_controller_single.launch

    roslaunch machine 3D_RVIZ.launch

    rosrun nav_staff init_pose_handle.py

Videos

here we adapted JPS(Jump point searching) algorithm to accelerate planner speed. additionally, we rewrite map server importing projection map into navigation system, also we use semantic mapping which let robot knew the coordinates of clear area and blocked area.

here is how we apply navigation_staff for our robot below

https://v.qq.com/x/page/i0369u3mz09.html

here is how we run our robot with face detect and speaker

https://v.qq.com/x/page/j0378buz9w2.html

here is the editable plan with JPS algorithm and path memory function for xbot

https://v.qq.com/x/page/o0368os4lky.html

here is the smoother moving

https://v.qq.com/x/page/m0369a3fn7f.html