robotics_demo
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zengxiaolei
🤖 my robotic demos with gif
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Control
anti-cogging
Anti-Cogging demo in ros2.
reference:
pure pursuit path tracking with adaptive forwards or backwards heading
reference:
velocity smoother (1€-Filter)
simulation test
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
usecase with an industrial AGV
move_base_vel: original navigation velocity command without obstacle avoidance
cmd_vel: smoothed velocity command with obstacle avoidance
reference:
A* planner
reference:
SLAM
localization recovery by apriltag
SLAM with erased map
VO
realsense D453i mono camera + IMU
reference:
realsense D453i stereo cameras+IMU
reference:
ORBSLAM2 with realsense D455
reference:
Detection
pallet detection by realsense D435
detection demo
docking demo
obstacle detour
The vehicle will wait for some time and then actively detour, if the obstacle does not leave within some time.
reference:
Parking Feasibilty Checking and Autonomous Adjustment
Rotate Parking for Pose Adjustment
K-Means clustering and 2D circle fitting
pink o: sample points
grey- purple - yellow o: clustered points
red △: clustered center
green --: fitted circle from clustered points
green o: circle center
reference:
geometry fitting of obstacles
simulation in stage
red: laser data
green: fitted circle
yellow: fitted straight line
blue: robot footprint
visulization: obstacle_detector.msg in RViz
real case with PEPPERL+FUCHS lidar
black: laser data
green: fitted circle & line
samples_per_scan: 4200
scan_frequency: 15
reference:
Behavior
behavior engine
behavior creation
behavior execution
simulation
reference:
state machine(SMACH) usecase
reference:
Scheduling
traffic cross behavior
#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
reference:
area lock manager
scheduling and routing for multi agents
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
run
git clone this repository and its dependency package ( homing_local_planner ) to your ROS (noetic) workspace
cd ~/your_ros_ws/src
git clone https://github.com/zengxiaolei/robotics_demo.git
cd ..
catkin_make
roslaunch multi_robots_schedule test.launch
Note: The launched simulation is slightly different from the local planner and configuration in the gif above. You can play with this algorithm through the rviz user interface.
Todo
Open source more algorithms and demoscases.
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