/escape-room

Simple and safe real-time navigation for no-noise differential-drive agent with LIDAR for escaping static environments.

Primary LanguageC++GNU Affero General Public License v3.0AGPL-3.0

escape-room

description

  • Simple and safe real-time navigation for no-noise differential-drive agent with LIDAR for escaping static environments.
  • Dynamic known environments can be managed but safety is not guranteed.

roadmap

  • Problems solved until now are documented in report.pdf

code

  • The project is a typical ROS project.
  • src/ contains all source code.
  • src/planner and src/replanner contain the core logic, the others are used as libraries.

documentation

  • For most of the code, the documentation is itself.

usage

  • Open a terminal at project root (the directory containing this file).

Known environment with humans

  • roscore
  • catkin_make
  • source devel/setup.bash
  • roslaunch turtlebot3_gazebo turtlebot3_zigzag_cylinder.launch

Unknown environment

  • roscore
  • catkin_make
  • source devel/setup.bash
  • roslaunch turtlebot3_gazebo turtlebot3_zigzag.launch

demonstration

A quick showcase of features.