https://github.com/google/bookbot-navigation

https://github.com/google/bookbot-navigation

Last synced: about 2 months ago
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• Host: GitHub
• URL: https://github.com/google/bookbot-navigation
• Owner: google
• License: apache-2.0
• Archived: true
• Created: 2019-05-02T20:40:12.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2019-05-28T17:11:39.000Z (over 5 years ago)
• Last Synced: 2024-06-24T01:39:27.458Z (3 months ago)
• Language: C++
• Size: 125 KB
• Stars: 10
• Watchers: 4
• Forks: 13
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

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README

        
# Bookbot Navigation

This collection of ROS packages represents a simple motion planning stack for a library book delivery robot. This planning stack consists of three primary planning nodes:

1. `primitive_planner` is a path planner that performs an A* search through a tree of motion primitives.

2. `primitive_velocity_planner` is a velocity profile planner that plans an optimal velocity profile for a specified path. This node also performs an A* search through a tree of velocity profile primitives.

3. `trajectory_following_controller` is a simple trajectory following controller that uses pure pursuit to compute control commands that keep the robot following its planned trajectory.

In addition an rviz-based waypoint UI and a simple simulation node are also provided to allow for out-of-the-box simulation. 

## Basic Usage

To try out the bookbot navigation planner:

1. Compile the packages in a ROS workspace (and resource the setup.bash for the workspace to ensure rviz can find the waypoint tool)

2. Load the `primitive_velocity_planner/rviz/planner.rviz` config in rviz

3. Run the planning stack in simulation with a static example obstacle grid: 

	`roslaunch primitive_velocity_planner test_primitive_velocity_planner.launch`

4. Set new waypoints by clicking on the waypoint tool (or using `w` as a hotkey) and then `shift-click` to append a new waypoint or `ctrl-click` to replace the existing set of waypoints.

## Disclaimer

This is not an officially supported Google product.