文件名称：在ROS中开始自主机器人仿真 - 5 机器人环境探索与避障
文件大小：57KB
文件格式：ZIP
更新时间：2021-03-15 10:36:35
ros, slam, 避障, turtlebot, gazebo
基于Turtlebot的自主移动机器人仿真. 本文中所述的自主移动机器人采用turtlebot, 从Kinect 采集点云传入obstacle avoidance 节点中,给出避障转向; navigation节点根据机器人避障转向信息和收到的指令信息做出最终的控制决策,传入到locomotion节点; 最后locomotion节点给出机器人的运动控制命令.
【文件预览】：
turtlebotslam_navigation
----src()
--------navigation.cpp(6KB)
----launch()
--------navigation.launch(173B)
----package.xml(2KB)
----include()
--------direction_source.h(1KB)
--------driving_direction.h(1KB)
--------navigation.hpp(5KB)
----CMakeLists.txt(7KB)
turtlebotslam_locomotion
----src()
--------locomotion.cpp(8KB)
----launch()
--------locomotion.launch(2KB)
----package.xml(2KB)
----include()
--------direction_source.h(1KB)
--------driving_direction.h(1KB)
--------turtlebotslam_locomotion()
--------locomotion.hpp(4KB)
--------locomotion_state.h(430B)
----param()
--------keyop_smoother.yaml(151B)
----CMakeLists.txt(7KB)
turtlebotslam_gazebo
----worlds()
--------corridor.world(15KB)
--------barrier.world(57KB)
--------empty.world(669B)
--------cafe.world(8KB)
--------playground.world(52KB)
----rviz()
--------navigation.rviz(11KB)
----src()
----launch()
--------turtlebotslam_rviz.launch(146B)
--------keyboard_teleop.launch(486B)
--------gmapping_demo.launch(730B)
--------keyop.launch(666B)
--------includes()
--------turtlebotslam_gazebo.launch(2KB)
----package.xml(2KB)
----CMakeLists.txt(7KB)
turtlebotslam_obstacle_avoidance
----src()
--------obstacle_avoidance.cpp(12KB)
----launch()
--------obstacle_avoidance.launch(1KB)
----package.xml(2KB)
----include()
--------turtlebotslam_control()
--------driving_direction.h(1KB)
--------obstacle_avoidance.hpp(7KB)
----CMakeLists.txt(7KB)