ku-zhen / OpenRoboticsToolkit

ROS2: OpenRoboticsToolkit

Introduction

• 此工程为导航算法需要的基础知识。详细文档

• 如果编译此工程，请看详细编译说明

Part I ROS2 rclcpp

ROS2 Topic	ROS2 Service	ROS2 Parameters	ROS2 Action
ROS2 Lifecycle	ROS2 Composition	ROS2 Timer	ROS2 Executors

• ROS2 Topic
• ROS2 Service
• ROS2 Parameters
• ROS2 Action
• ROS2 Lifycycle
• ROS2 Composition
• ROS2 Timer
• ROS2 Executors

Part II RVIZ2可视化

RVIZ Path	RVIZ Trajectory	RVIZ Marker

• RVIZ Path
• RVIZ Trajectory
• RVIZ Marker

Part III Gazebo仿真

Gazebo Sensor	Gazebo differential robot

• Gazebo Sensors
• Gazebo Differential Robot

Part IV Behavior Tree

BT: Action	BT: Control	BT: Condition	BT: Decorator

• BT: Action
• BT: Control
• BT: Condition
• BT: Decorator

Part V GridMap

• layers
• opencv

Part VI Navigation2导航

• costmap2d

• A* path planner

• Hybird A* path planner

• DWA local planner

• TEB local planner

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