merlinwu / iliad

L-CAS specific works on ILIAD project

Packages and description:

Note: Those packages are still in early development ("hic sunt dracones")

twist_controller (previously zombie)

Extremely simple forklift controller. Contains a basic ROS/CAN bridge and a simple command converter. Command converter transforms from rot/trans vel commands (like a differential robot) to steering angle/speed and motor wheel speed.

base_simulation (previously in package named demo)

Gazebo world configurations and simulated forklifts used in other packages.

nav_simulation (previously in package named demo)

Shows simulated forklift using ROS navigation stacks. Currently testing TEB planner and ROS DWA.

hri_simulation

Depends on base and navigatio simulation packages. It simulates human aware navigation.

Source dependences:

Remember to source after building with catkin_make -DCMAKE_BUILD_TYPE=Release

• strands_hri https://github.com/strands-project/strands_hri

• strands_perception_people https://github.com/strands-project/strands_perception_people

• strands_navigation https://github.com/strands-project/navigation/tree/han_dwa_only_kinetic

• strands_qsr_lib https://github.com/strands-project/strands_qsr_lib

• ghmm (required by qsr_lib) http://ghmm.sourceforge.net/installation.html

• velodyne_simulator https://github.com/LCAS/velodyne_simulator

• kinect2_simulation https://gitsvn-nt.oru.se/iliad/software/kinect2_simulation

• iai_kinect2 https://github.com/code-iai/iai_kinect2

• navigation_oru https://github.com/OrebroUniversity/navigation_oru-release

• Spencer people tracking (iliad branch) https://github.com/LCAS/spencer_people_tracking/tree/ilidad-dev