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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

• cartographer

Part VII Navigation2导航

• 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

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