Note that this warehouse stores my professional elective course codes, which have low originality but detailed annotations(注意,本仓库存放的是我的专业选修课代码,原创性较低但注释详细)
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Package Description
robot: Contains the .urdf file for the cleaning robot and the .world file for the environment.
m-explore: Open-source explore_lite algorithm.
manual_nav: Package for manual mapping and manual navigation.
auto_nav: Package for autonomous mapping and autonomous navigation.
path_planning.cpp: Contains the path planning code for the cleaning robot.
path_planning_node.cpp: Node responsible for publishing the planned path.
next_goal.cpp: Node responsible for publishing the next goal point.
Usage Instructions
Compile the project in the root directory: catkin_make
Refresh the environment variables: source devel/setup.bash
Depending on the functionality you want to run:
For autonomous mapping: roslaunch auto_nav auto_slam.launch After mapping, save the map using roslaunch auto_nav save_map.launch
For autonomous navigation: roslaunch auto_nav clean_work.launch
For manual mapping: roslaunch manual_nav slam.launch After mapping, save the map using roslaunch manual_nav save_map.launch
For manual navigation: roslaunch manual_nav nav.launch