fly-duck / micvision

Micvision package provide exploration and location for robot using navigation and cartographer packages

MICVISION

Description

This package provides a lot of functions for robot operations in both real and stage environment.

The main functions list:

1. Autonomous navigation
2. Autonomous mapping
3. Self-localization
4. Autonomous obstacle avoidance
5. Dynamic path planning

Dependencies

1. navigation
2. cartographer
3. cartographer_ros
4. cartographer_turtlebot
5. ceres-solver
6. stage_ros

Install

First, we need to download the packages. Run:

cd docs/scripts/
bash download.sh

Second, we build the packages.

# change to your catkin workspace
cd your-catkin-workspace
catkin_make_isolated

Packages

The package list in this repository.

micvision

micvision_exploration

micvision_exploration: to explore the whole map of the unknown environment.

micvision_localization

micvision_localization: to localize the robot in a map.

micvision_patroller

micvision_patroller: to patrol at the specified location.

micvision_sim

This package uses the stage to simulate the real environment, you can use the stage_ros from the ROS or use the stage_ros that we provide. The difference between these two versions is, the laser scan data in stage_ros provided by ROS is very accurate while the data provided by us is corrupted with noise.

The package also has two parts: mapping and navigation.

mapping

usage:

# willow world
roslaunch micvision_sim willow-mapping-sim.launch

# or use maze world below
# roslaunch micvision_sim maze-mapping-sim.launch

# then, in another terminal
rosservice call /StartExploration

# we also provide other commands to control the robot
# Stop the exploration action
rosservice call /StopExploration

# Stop the robot
rosservice call /Stop

# Pause the robot
rosservice call /Pause

navigation

usage:

# willow world
roslaunch micvision_sim willow-navigation-sim.launch
# or use maze world instead
# roslaunch micvision_sim maze-navigation-sim.launch

# find the location of the robot
rosservice call /StartLocalization

# click on the map using rviz, and the robot will move to it

patroller

usage:

# run in the navigation mode
roslaunch micvision_sim willow-navigation-sim.launch
# using the RVIZ button `Publish Point` to assign some location to patroller
# Than start patroller
rosservice call /StartPatroller

# or stop patroller
rosservice call /StopPatroller

# or reset the patroller
rosservice call /ResetPatroller

micvision_mapping

This package provides the real world & robot for mapping.

Click the link below to view a video showing mapping:

You can use it with turtlebot2(kobuki) or turtlebot3.

Usage:

# turtlebot2
roslaunch micvision_mapping mapping_turtlebot2.launch

# turtlebot3
roslaunch micvision_mapping mapping_turtlebot3.launch

# other commands please refer to the micvision_sim mapping function

micvision_navigation

This package provide the real world and robot for autonomous navigation and self-localization.

Click the link below to view a video showing self-localization and autonomous navigation:

You can use it with turtlebot2(kobuki) or turtlebot3.

Usage:

# turtlebot2
roslaunch micvision_navigation navigation_turtlebot2.launch

# turtlebot3
roslaunch micvision_navigation navigation_turtlebot3.launch

# other commands please refer to the micvision_sim navigation function