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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/DroidAITech/xbot_navi.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-07-04 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The xbot_navi package
Additional Links
No additional links.
Maintainers
- Roc Wang
- wangxiaoyun
Authors
- Roc Wang
xbot_navi
简介
xbot_navi是用于重德智能XBot-U科研教学平台机器人的导航定位ROS程序包。
该程序包具有建图、定位、导航、规划以及服务功能实现等多种功能。
使用方法
建立地图
在机器人上运行
roslaunch xbot_navi build_map.launch
然后在作为ROS从机的PC上运行可视化程序：
roslaunch xbot_navi rviz_build_map.launch
或者也可以选择使用google开源的cartographer来建图：
roslaunch xbot_navi build_map_carto.launch
SLAM导航程序
在机器人上运行
roslaunch xbot_navi demo.launch
或者使用cartographer:
roslaunch xbot_navi navi_carto.launch
服务功能实现
该服务功能将导航、人脸识别、语音对话集合成一个整体的服务。
用户需要修改配置文件param/kp.json和param/greet.json来管理关键点和人脸问候语。
运行可参考
roslaunch xbot_navi demo.launch
参考链接
联系我们
商务合作：bd@droid.ac.cn
技术咨询：wangpeng@droid.ac.cn或添加微信:18046501051（注明XBot-U咨询）
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- launch/demo.launch
-
- map_file [default: $(find xbot_navi)/map/compete.yaml]
- launch/include/map_server.launch
-
- map_file [default: $(find xbot_navi)/map/museum_gmapping1.4.yaml]
- launch/navi_carto.launch
- launch/rviz_build_map.launch
- launch/build_map.launch
- launch/input_keypoints.launch
-
- map_file [default: $(find xbot_navi)/map/compete.yaml]
- launch/rviz_input_keypoint.launch
- launch/build_map_carto.launch
- launch/include/velocity_smoother.launch.xml
- Velocity smoother
-
- launch/include/move_base.launch.xml
- ROS navigation stack with velocity smoother and safety (reactive) controller
-
- odom_frame_id [default: odom]
- base_frame_id [default: base_link]
- global_frame_id [default: map]
- odom_topic [default: odom]
- laser_topic [default: scan]
- custom_param_file [default: $(find xbot_navi)/param/dummy.yaml]
- launch/include/amcl.launch.xml
-
- use_map_topic [default: false]
- scan_topic [default: scan]
- initial_pose_x [default: 0.0]
- initial_pose_y [default: 0.0]
- initial_pose_a [default: 0.0]
- odom_frame_id [default: odom]
- base_frame_id [default: base_footprint]
- global_frame_id [default: map]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged xbot_navi at Robotics Stack Exchange
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