cleaningrobot's Introduction

cleaning-robot

Using opencv and costmap2d to make cleaning plan.
Using movebase to contral robot's movement.
Caution, I just cost one week to search this work, so it still need much more work if you want to make it runs better.
The env of this code is Ubuntu14.04, ros_indigo, opencv2. ubuntu16.04-ros-kinetic also test passed.

Depends

rbx1 https://github.com/pirobot/rbx1/tree/kinetic-devel-beta
opencv
ros-navigation-stack(actionlib、move-base...)
roscpp、 tf
Download corresponding script in this repo to install depends.

Build

Download 'build.sh' in this repo.
export ROOT_WS='your absolute root work space path'
sh build.sh

Run path planning node

cd $ROOT_WS source devel/setup.sh roslaunch cleaning_robot path_planning.launch

(click left menu of CoveragePath to select corresponding topic to show path in mainwindow.)

Run cleaning with movebase node

cd $ROOT_WS source devel/setup.sh roslaunch cleaning_robot cleaning_movebase.launch

(click left menu of CoverageMap to select corresponding topic to show covered grids in mainwindow.)

cleaningrobot's Issues

cleaning plan

您好!您这里提到的cleaning plan是指规划清扫路线么？应该启动哪个launch和node？多谢。

The program has a runtime error

Error msg is:[ERROR] [1606813160.660855737]: Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.

How to change the map?

I want to run the robot and the path-planning in another map made by myself, how can I do it?
作者你好，我想在我自己建的一个地图里跑这个机器人和这个路径规划算法，应该怎么操作？

How can I get CleaningRobot's paper

I read you CleaningRobot project. can you give me this project's paper?
thinks

move

Hello, I was studying the pathplaning of cleaningrobot these days. Can you tell me how the robot can follow the path you show in the picture ? Thanks a lot.

Algorithm

Hello, can I learn about your main algorithm or related paper ?

An error

hello!When I typed 'roslaunch cleaning_robot path_planning.launch‘，the error
‘Traceback (most recent call last):
File "/opt/ros/kinetic/share/xacro/xacro.py", line 61, in
xacro.main()
AttributeError: 'module' object has no attribute 'main'' was appeared.
How to deal with it?
Thank you so much!

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