forklift_ws
Repo for all things TMHE at HMI in airsim
Setup
You'll need: windows subsystem for linux ros kinetic or higher access to my fork of the airsim_ros_pkgs repo
If on ros-kinetic:
chmod +x setup.sh
./setup.sh
Otherwise, you'll need to set up your ros-workspace and clone the following dependencies into your source folder:
airsim_ros_pkgs ros-navigation navigation-msgs tf2
and then build the following packages:
catkin build airsim_ros_pkgs
catkin build costmap_2d
catkin build move_base
Current State
RL
Goal
Assuming drone is some maximum distance and offset from pallet, determine proper control actions to align forks with pallet.
Status
- Input: 2d Distance transform of lidar data
- Reward Function: Angular and linear offset from desired line of approach
- ML library: CNTK
- Model: DQN
ROS
Goal
Move robot from some point A in the map to some goal point B provided by server (this will most likely be predetermined).
Status
Still pretty bare-bones. Listens to airsim sensor data and constructs a 2d costmap based on the robot pose and lidar output.
TODO
- Increase max object distance
- Integrate planner (use amcl, move_base, etc.)