zcy
/
m-explore-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix readme not rendering videos (#15) 

* Update sections

* wtf
main
Carlos Andrés Álvarez Restrepo 2022-05-28 18:51:31 -05:00 committed by GitHub
parent 8b3c507c9e
commit c99e8d77ae
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 15 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
README.md
View File

@ -4,22 +4,22 @@ ROS2 package port for multi robot autonomous exploration of [m-explore](https://
### Contents
1. [Autonomous exploration](#Autonomous-exploration)
* [Demo in simulation with a TB3 robot](#TB3)
* [Demo with a JetBot](#jetbot-demo)
* [Instructions for the simulation demo](#running-explore-demo-sim)
* [Demo in simulation with a TB3 robot](#Simulation-with-a-TB3-robot)
* [Demo with a JetBot](#On-a-JetBot-with-realsense-cameras)
* [Instructions for the simulation demo](#Running-the-explore-demo-with-TB3)
2. [Multirobot map merge](#Multirobot-map-merge)
* [Simulation demo with known initial poses](#Known-initial-poses)
* [Simulation demo with unknown initial poses](#Unknown-initial-poses)
* [ROS2 requeriments](#ROS2-requirements)
* [Instructions for simulation demos](#running-merge-demo-sim)
* [Instructions for simulation demos](#Running-the-demo-with-TB3)
## Autonomous exploration<a name="Autonomous-exploration"/>
## Autonomous exploration
### TB3
### Simulation with a TB3 robot
https://user-images.githubusercontent.com/8033598/128805356-be90a880-16c6-4fc9-8f54-e3302873dc8c.mp4
### On a JetBot with realsense cameras<a name="jetbot-demo"/>
### On a JetBot with realsense cameras
https://user-images.githubusercontent.com/18732666/128493567-6841dde0-2250-4d81-9bcb-8b216e0fb34d.mp4
@ -41,7 +41,7 @@ To run with a params file just run it with
ros2 run explore_lite explore --ros-args --params-file <path_to_ros_ws>/m-explore/explore/config/params.yaml
```
### Running the demo with TB3<a name="running-explore-demo-sim"/>
### Running the explore demo with TB3
Install nav2 and tb3 simulation. You can follow the [tutorial](https://navigation.ros.org/getting_started/index.html#installation).
Then just run the nav2 stack with slam:
@ -72,11 +72,15 @@ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtleb
Then you'll be able to run it.
## Multirobot map merge
______________________________________________________________________
## Multirobot map merge
This package works with known and unknown initial poses of the robots. It merges the maps of the robots and publishes the merged map. Some results in simulation:
### Known initial poses (best results)<a name="Known-initial-poses"/>
### Known initial poses
This gives normally the best results.
https://user-images.githubusercontent.com/8033598/144522712-c31fb4bb-bb5a-4859-b3e1-8ad665f80696.mp4
### Unknown initial poses
@ -102,7 +106,7 @@ To spawn multiple robots, you need the `nav2_gazebo_spawner` which does not come
#### Nav2 config files
This repo has some config examples and launch files for running this package with 2 TB3 robots and a world with nav2. Nonetheless, they are only compatible with the galactic branch and since some breaking changes were introduced in this branch, if you want to try it with another ros2 distro you'll need to tweak those param files for that nav2's distro version (which shouldn't be hard).
### Running the demo with TB3<a name="running-merge-demo-sim"/>
### Running the demo with TB3
First, you'll need to launch the whole simulation stack, nav2 stacks and slam stacks per robot. For that just launch::
```
export TURTLEBOT3_MODEL=waffle