An awesome ROS package for the LCAS Thorvald robot! For deployment around an unknown area!
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This ROS package uses the prebuilt simulation area and Thorvald system built by LCAS to autonomously navigate an unknown area using the Thorvald system.

Whilst the system uses ROS Nav base this package maps the surroundings as well as weeds that are potentially identified.

• UOL
• ROS Nav
• ROS Gmapping

To get a local copy up and running follow these simple example steps.

This is an example of how to list things you need to use the software and how to install them.

• ROS melodic

  http://wiki.ros.org/melodic/Installation

• UOL Core ROS libraries

  sudo ls
  sudo apt-get update && sudo apt-get install curl
  curl https://raw.githubusercontent.com/LCAS/rosdistro/master/lcas-rosdistro-setup.sh | bash -  

  • Melodic Core ROS libraries

  sudo apt-get install \ 
    ros-melodic-robot-localization \
    ros-melodic-thorvald \
    ros-melodic-gmapping \
    ros-melodic-opencv-apps \
    ros-melodic-find-object-2d \
    ros-melodic-video-stream-opencv \
    ros-melodic-image-geometry \

1. Clone the repo

   git clone https://github.com/Harry-Rogers/thor-explorer

This package can be reconfigured to work with any robot that uses ROS navigation package and the Gmapping package.

To use this package refer to the demo video or follow the instructions below.

   cd thor-explorer/thor-explorer
   source ./devel/setup.bash
   roslaunch thor-explorer static-launch.launch

To save the weed map save the image in Rviz. This package can be used with the dynamic map, however it is not as successful as the static map. This is explained in the paper.

For more examples, please refer to the Documentation List below

ROS Navigation Documentation

ROS Gmapping Documentation

OpenCV Documentation

See the open issues for a list of proposed features (and known issues).

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

Distributed under the MIT License. See LICENSE for more information.

Harry Rogers- https://harry-rogers.github.io/