https://github.com/advrhumanoids/horizon_navigation

https://github.com/advrhumanoids/horizon_navigation

Last synced: 2 days ago
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• Host: GitHub
• URL: https://github.com/advrhumanoids/horizon_navigation
• Owner: ADVRHumanoids
• Created: 2024-02-16T15:26:04.000Z (9 months ago)
• Default Branch: master
• Last Pushed: 2024-09-13T14:17:24.000Z (2 months ago)
• Last Synced: 2024-09-14T16:49:02.916Z (2 months ago)
• Language: C++
• Size: 224 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# horizon_navigation

Utilities to integrate perception in the Horizon environment.

For now, data coming from velodynes and sonar are supported. All the utilities are based on the [grid_map](https://github.com/ANYbotics/grid_map) package from ANYbotics. 

The map is based on velodyne, sonar data and robot odometry. 

This utility is created with three criteria in mind:

1. dynamic obstacles

    * objects can disappear or move around the map

1. sonars' data validates the presence of the obstacle in the blind zone

1.  blind zone in proximity of the sensor (OPTIONAL, for now deprecated)

    * centered at robot's `/base_link`.

    * objects entering it are fixed in the map to avoid misdetection.

The occupancy map occupied cells are transformed into sphere instances that can be digested by [Horizon](https://github.com/ADVRHumanoids/horizon) and thrown in the optimization process for obstacle avoidance.

For more implementation details, check:

 * [horizon obstacles management](README_obstacles.md)

 * [occupancy map generation](README_occupancy_map.md)

---

### examples

1. **simulation in Gazebo:**

 - ``mon launch concert_gazebo concert.launch  velodyne:=true ultrasound:=true`` (for robot simulation with sensors)

2. **map generation:**

- mixed map - dynamic map + fixed map

   - ``mon launch concert_odometry concert_odometry.launch`` (for robot odometry, publishes frame ``/odom``)

   - ``mon launch horizon_navigation navigation.launch`` (generates the occupancy map)

- mixed map - dynamic map only

   - ``mon launch horizon_navigation lidar_sonar.launch`` (generates the occupancy map)

3. **horizon controller:**

   - ``mon launch concert_horizon concert_controller.launch xbot:=true`` (horizon controller)

  

4. **visualization in rviz**:

   - ``roscd horizon_navigation && rviz -d config/rviz/concert_nav.rviz``