ROS Index
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro humble. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro kilted. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble ike_controller ike_costmap_2d ike_launch ike_localization ike_map_server ike_nav ike_nav_msgs ike_nav_parameters ike_nav_rviz_plugins ike_nav_server ike_planner ike_waypoint_follower |
Repository Summary
| Description | Simple ROS 2 Navigation Stack with C++ Implementation |
| Checkout URI | https://github.com/uhobeike/ike_nav.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-12-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | tracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ike_controller | 0.0.0 |
| ike_costmap_2d | 0.0.0 |
| ike_launch | 0.0.0 |
| ike_localization | 0.0.0 |
| ike_map_server | 0.0.0 |
| ike_nav | 0.0.0 |
| ike_nav_msgs | 0.0.0 |
| ike_nav_parameters | 0.0.0 |
| ike_nav_rviz_plugins | 0.0.0 |
| ike_nav_server | 0.0.0 |
| ike_planner | 0.0.0 |
| ike_waypoint_follower | 0.0.0 |
README
Simple ROS 2 Navigation Stack with C++ Implementation
"IKE_NAV"（ not IKE IKE NAV ）does not imply a superior navigation package
😎 I tried running it on a real machine with IKE_NAV
📖 Package overview
IKE_NAVは、C++実装によるシンプルなROS 2ナビゲーションスタックです。
2次元地図nav_msgs/OccupancyGrid、2次元センサ情報sensor_msgs/LaserScan、移動ロボットのオドメトリ情報tf2_msgs/TFMessageを入力し、与えられた目標位置までに到達するための速度geometry_msgs/Twistを出力します。
⚡ Quick demo IKE_NAV
docker run -it \
--rm \
--net=host \
--env="DISPLAY=$DISPLAY" \
--user $(id -u):$(id -g) \
--mount type=bind,source=/usr/share/zoneinfo/Asia/Tokyo,target=/etc/localtime \
--name ike_nav \
ghcr.io/uhobeike/ike_nav:humble
https://github.com/uhobeike/ike_nav/assets/40545422/1f8b58f8-acae-4aea-9a2c-8f0c6799994f
🔨 Install and Build
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws
git clone https://github.com/uhobeike/ike_nav.git src/ike_nav
rosdep update
rosdep install -i -y --from-path src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
🧐 Known bug（これから修正予定）
- ウェイポイントのセット時、稀に出力され、ナビゲーションが停止する
[rviz2-5] [ERROR] [1693991158.604136358] [rviz2]: ItemIdentityException: Material with the name goal_flag_material_0.244069 already exists. in ResourceManager::add at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/src/OgreResourceManager.cpp (line 148)
👨💻 ToDo（現在、対応中）
- 障害物回避の安定化
- ウェイポイント通過後の安定化
- グローバルコストマップ、尤度場の作成の高速化
⚖️ License
IKE_NAVは、LGPL-3.0-or-laterとApache-2.0のライセンスで構成されています。
詳しくは、各パッケージのpackage.xmlファイルを確認してください。
🤩 STARCHART
CONTRIBUTING
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro iron. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro melodic. Known supported distros are highlighted in the buttons above.
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ike_nav repositorytracking robot localization planner cpp robotics simulation controller ros planning lidar navigation-system ros2 contol navigation-stack ros2-humble ros-humble |
No version for distro noetic. Known supported distros are highlighted in the buttons above.