Share my robotic demos with all! Add star🌟 to this repo if you like it
Anti-Cogging demo in ros2.
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move_base_vel: original navigation velocity command without obstacle avoidance
cmd_vel: raw navigation velocity command with obstacle avoidance
cmd_vel_filtered: smoothed velocity command with obstacle avoidance
move_base_vel: original navigation velocity command without obstacle avoidance
cmd_vel: smoothed velocity command with obstacle avoidance
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The vehicle will wait for some time and then actively detour, if the obstacle does not leave within some time.
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pink o: sample points
grey- purple - yellow o: clustered points
red â–³: clustered center
green --: fitted circle from clustered points
green o: circle center
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red: laser data
green: fitted circle
yellow: fitted straight line
blue: robot footprint
visulization: obstacle_detector.msg in RViz
black: laser data
green: fitted circle & line
samples_per_scan: 4200
scan_frequency: 15
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#No need to share information between robots
#Robots move independently of each other
controller_frequency: 2.0Hz (Due to computational load on my own computer)
base_local_planner: teb_local_planner/TebLocalPlannerROS
max_vel_x: 1.0m/s
play speed: ×4
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Scheduling: Manhattan distance
Routing: global path planning based on information sharing & junction behavior of independence
Clicked point: Navigation tasks are automatically assigned to the nearest and idle robot.
controller_frequency: 2.0Hz (Due to computational load on my own computer)
base_local_planner: teb_local_planner/TebLocalPlannerROS
max_vel_x: 1.0m/s
play speed: ×4
git clone this repository and its dependency package ( homing_local_planner ) to your ROS (noetic) workspace
cd ~/your_ros_ws/src
git clone https://github.com/zengxiaolei/robotics_demo.git
cd ..
catkin_make
roslaunch multi_robots_schedule test.launch
Note: The launched simulation is slightly different from the local planner and configuration in the gif above. You can play with this algorithm through the rviz user interface.
Open source more algorithms and demoscases.