xiaoyueerwithdreams / robotics_demo Goto Github PK

move_base_vel:            original navigation velocity command without obstacle avoidance
cmd_vel:                  raw navigation velocity command with obstacle avoidance
cmd_vel_filtered:         smoothed velocity command with obstacle avoidance

move_base_vel:            original navigation velocity command without obstacle avoidance
cmd_vel:                  smoothed velocity command with obstacle avoidance

pink o:                    sample points
grey- purple - yellow o:   clustered points
red △:                     clustered center
green --:                  fitted circle from clustered points
green o:                   circle center

red:                      laser data
green:                    fitted circle
yellow:                   fitted straight line
blue:                     robot footprint
visulization:             obstacle_detector.msg in RViz

black:                    laser data
green:                    fitted circle & line
samples_per_scan:         4200
scan_frequency:           15

No need to share information between robots
Robots move independently of each other

controller_frequency：     2.0Hz （Due to computational load on my own computer）
base_local_planner:        teb_local_planner/TebLocalPlannerROS                    
max_vel_x:                 1.0m/s

play speed:                ×4

Scheduling:                Manhattan distance
Routing:                   global path planning based on information sharing
                                 & junction behavior of independence
               
Clicked point:            Navigation tasks are automatically assigned to the nearest and idle robot.
      
controller_frequency：    2.0Hz （Due to computational load on my own computer）
base_local_planner:       teb_local_planner/TebLocalPlannerROS
max_vel_x:                1.0m/s
      
play speed:               ×4