cleaning-robot
- Using opencv and costmap2d to make cleaning plan.
- Using movebase to contral robot's movement.
- Caution, I just cost one week to search this work, so it still need much more work if you want to make it runs better.
- The env of this code is Ubuntu14.04, ros_indigo, opencv2. ubuntu16.04-ros-kinetic also test passed.
Depends
- rbx1 https://github.com/pirobot/rbx1/tree/kinetic-devel-beta
- opencv
- ros-navigation-stack(actionlib、move-base...)
- roscpp、 tf
- Download corresponding script in this repo to install depends.
Build
- Download 'build.sh' in this repo.
export ROOT_WS='your absolute root work space path'sh build.sh
Run path planning node
cd $ROOT_WS
source devel/setup.sh
roslaunch cleaning_robot path_planning.launch
(click left menu of CoveragePath to select corresponding topic to show path in mainwindow.)
Run cleaning with movebase node
cd $ROOT_WS
source devel/setup.sh
roslaunch cleaning_robot cleaning_movebase.launch
(click left menu of CoverageMap to select corresponding topic to show covered grids in mainwindow.)
