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321thijs123 / dingo_dock Goto Github PK

This package for ROS Noetic allows a simulated Dingo robot equipped with a Velodyne LiDAR to detect and dock with a platform.

CMake 9.71% C++ 90.29%

ros docking lidar sensor

dingo_dock's Introduction

Nodes

cloudfilter

Subscribed Topics

velodyne_points (sensor_msgs/PointCloud2)

Published Topics

layer_cloud (sensor_msgs/PointCloud)
direction_cloud (sensor_msgs/PointCloud)
object_cloud (sensor_msgs/PointCloud)
group_cloud (sensor_msgs/PointCloud)

Published transforms

velodyne -> leg_pair_x
velodyne -> platform_x

navGoalSender

Transforms Listeners

world -> platform_x

MoveBase

This node uses a movebase action client for the action named "move_base"

Launch Files

rviz.launch

This launch file launches RVIZ with a configuration for visualizing the platform recognition.

rviz_nav.launch

This launch file launches RVIZ with a configuration for visualizing the platform recognition and sending navgoals.

dingo_dock's People

Contributors

Stargazers

Watchers

Forkers

iwuke

dingo_dock's Issues

Fix simulation robot yaw

When the robot turns it does not turn around our "proper_base_link" frame between the wheels. It wrongly rotates around the "base_link" frame in the middle of the robot.

SLAM using pointcloud

The robot must be able to create a map of the environment using the pointcloud from the LiDAR and localize itself using that map. The map also needs to be saveable.

Use pointcloud for obstacle avoidance

The navigation node needs to use the pointcloud from the LiDAR to drive and plan around obstacles.

The platform recognition node (Cloudfilter) publishes a transform for the center of the platform, this transform is slight off. Change the transform so that it is half the platform length from the front legs.

Create launch file

Create a launch file that launches everything required for a demonstration

Improve navigation obstacle avoidance

The obstacle avoidance needs to be improved so that the planner does not get stuck on corners.

Finish nav-goal-sender node

Change name so it follows ROS standards, cleanup code.

Test on real Dingo

Improve navigation precision

The navigation parameters need to be improved so the robot gets closer to it's target position and orientation.

Write node for docking

Write a node that sends velocity_msgs on cmd_vel to dock to the platform.

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