Simulation of Sweeping Robot in ROS(Noetic)

• 
• demo video

English

Package Description

• 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.

Usage Instructions

1. Compile the project in the root directory: catkin_make
2. Refresh the environment variables: source devel/setup.bash
3. Depending on the functionality you want to run:
   • For autonomous mapping: roslaunch auto_nav auto_slam.launch After mapping, save the map using roslaunch auto_nav save_map.launch
   • For autonomous navigation: roslaunch auto_nav clean_work.launch
   • For manual mapping: roslaunch manual_nav slam.launch After mapping, save the map using roslaunch manual_nav save_map.launch
   • For manual navigation: roslaunch manual_nav nav.launch

Reference Links

• https://github.com/hrnr/m-explore
• https://github.com/peterWon/CleaningRobot
• https://github.com/mywisdomfly/Clean-robot-turtlebot3

中文

功能包说明

• 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

使用说明

1. 在该工程的根目录编译项目： catkin_make
2. 刷新环境变量： source devel/setup.bash
3. 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

参考链接

• https://github.com/hrnr/m-explore
• https://github.com/peterWon/CleaningRobot
• https://github.com/mywisdomfly/Clean-robot-turtlebot3