- demo video
- Note that this warehouse stores my professional elective course codes, which have low originality but detailed annotations(注意，本仓库存放的是我的专业选修课代码，原创性较低但注释详细)
- robot: Contains the .urdf file for the cleaning robot and the .world file for the environment.
- m-explore: Open-source explore_lite algorithm.
- manual_nav: Package for manual mapping and manual navigation.
- auto_nav: Package for autonomous mapping and autonomous navigation.
- path_planning.cpp: Contains the path planning code for the cleaning robot.
- path_planning_node.cpp: Node responsible for publishing the planned path.
- next_goal.cpp: Node responsible for publishing the next goal point.
- Compile the project in the root directory:
catkin_make - Refresh the environment variables:
source devel/setup.bash - Depending on the functionality you want to run:
- For autonomous mapping:
roslaunch auto_nav auto_slam.launchAfter mapping, save the map usingroslaunch auto_nav save_map.launch - For autonomous navigation:
roslaunch auto_nav clean_work.launch - For manual mapping:
roslaunch manual_nav slam.launchAfter mapping, save the map usingroslaunch manual_nav save_map.launch - For manual navigation:
roslaunch manual_nav nav.launch
- For autonomous mapping:
- https://github.com/hrnr/m-explore
- https://github.com/peterWon/CleaningRobot
- https://github.com/mywisdomfly/Clean-robot-turtlebot3
- robot 包含扫地机器人的.urdf文件和环境的.world文件
- m-explore 开源的explore_lite算法
- manual_nav 手动建图和手动导航的功能包
- auto_nav 自主建图和自主导航的功能包
- path_planning.cpp 为扫地路径规划代码
- path_planning_node.cpp 发布规划好的路径的节点
- next_goal.cpp 发布下一个目标点的节点
- 在该工程的根目录编译项目：
catkin_make - 刷新环境变量：
source devel/setup.bash - 根据你想运行的功能：
- 若要自主建图：
roslaunch auto_nav auto_slam.launch建图完成后roslaunch auto_nav save_map.launch保存地图 - 若要自主导航：
roslaunch auto_nav clean_work.launch - 若要手动建图：
roslaunch manual_nav slam.launch建图完成后roslaunch manual_nav save_map.launch保存地图 - 若要手动导航：
roslaunch manual_nav nav.launch
- 若要自主建图：