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更新算法运行脚本

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UESTCsecurity 2024-02-06 12:15:18 +08:00
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Code/MowingRobot/PIBot_ROS/ros_ws/src/README.md Normal file
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## ROS包功能说明:
> 更新时间：2024/02/04@詹力
`ipa_coverage_planning` ：新添加的全覆盖路径规划算法，这部分代码是原来`pibot`没有的。详细内容见包里面的`README.md`文档。

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# ipa_coverage_planning
Algorithms for floor plan segmentation and systematic coverage driving patterns.
> 更新 ： 林跃杭、詹力 2024/02/04
>
> 更新日志：2024/01/31@林跃杭： 在代码中订阅小车控制服务，通过摄像头结点传输的障碍物信息，执行简单的90°的避障行为。
If you find this software useful in your work, please cite our corresponding papers:
- R. Bormann, F. Jordan, W. Li, J. Hampp, and M. Hägele. Room Segmentation: Survey, Implementation, and Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. https://ieeexplore.ieee.org/abstract/document/7487234 , https://publica.fraunhofer.de/entities/publication/0bf23149-75d5-4601-bfce-992d91698862/details
- R. Bormann, F. Jordan, J. Hampp, and M. Hägele. Indoor coverage path planning: Survey, implementation, analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1718–1725, May 2018. https://ieeexplore.ieee.org/abstract/document/8460566 , https://publica.fraunhofer.de/entities/publication/f537c15d-4cbe-4672-9d86-6e756a9ce71b/details
### 一、概述
## ROS Distro Support
#### 1.1 代码功能
​ 机器人全覆盖路径规划算法，这个算法的来源仓库地址: [GitHub](https://github.com/ipa320/ipa_coverage_planning)。机器人的全覆盖算法可以用于割草机器人的草坪全覆盖，这个路径规划库在`pibot_ros`的原始仓库是没有提供的。
​ 全路径规划算法分为服务端和客户端，服务端可以理解为一个路径规划器，我们把地图提供给服务端，服务端给出全覆盖规划的结果。服务端有一个地图读取数据功能，如果这部分读取的修改为固定值，那么实际上是不需要客户端的。
#### 1.3 ROS 版本支持
| | Indigo | Jade | Kinetic | Melodic | Noetic |
|:-------:|:------:|:----:|:-------:|:-------:|:-------:|
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| Status | not supported | not supported | EOL | supported | supported |
| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_noetic_default.html?q=ipa_coverage_planning)
## Travis - Continuous Integration
Status: [![Build Status](https://travis-ci.org/ipa320/ipa_coverage_planning.svg?branch=indigo_dev)](https://travis-ci.org/ipa320/ipa_coverage_planning)
## 二、快速开始
1. 初始化机器人并启动`turtlebot3`的仿真。在使用`pibot`底盘时
## Quick start
1. 开始房间探索行为服务端
1. Bring up your robot or launch the turtlebot3 simulation
1. Start the room exploration action server:
```
```shell
roslaunch ipa_room_exploration room_exploration_action_server.launch
```
​ 3.开始房间探索行为客户端
1. Start the room exploration action client:
```shell
roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=your-robot-env use_test_maps:=false
```
```
roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=your-robot-env use_test_maps:=false
```
### 三、参考文献
- R. Bormann, F. Jordan, W. Li, J. Hampp, and M. Hägele. Room Segmentation: Survey, Implementation, and Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. https://ieeexplore.ieee.org/abstract/document/7487234 , https://publica.fraunhofer.de/entities/publication/0bf23149-75d5-4601-bfce-992d91698862/details
- R. Bormann, F. Jordan, J. Hampp, and M. Hägele. Indoor coverage path planning: Survey, implementation, analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1718–1725, May 2018. https://ieeexplore.ieee.org/abstract/document/8460566 , https://publica.fraunhofer.de/entities/publication/f537c15d-4cbe-4672-9d86-6e756a9ce71b/details

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Code/MowingRobot/README.md
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> 注意：`build`文件夹是编译生成，不需要纳入git管理
### 一、启动全覆盖 & 避障
#### 1.1 启动双目测距节点
### 启动全覆盖 & 避障
```shell
# -------------------------- 目标检测和测距节点 --------------------------------
# 进入工作目录
cd ~/obj_dec
# 编译
catkin_make
# 引入环境变量
source ./devel/setup.bash
# 启动ros核心节点
roscore
# 运行
rosrun rknn_yolov5_demo main
# 启动机器人和底盘通信连接
./runBringUp.sh
# 启动目标检测和测距节点
./runStereo.sh
# 可选: 启动UWB融合定位
./runCarLocation.sh
# 启动全覆盖地图服务端
./runRoomExplorationServer.sh
# 启动全覆盖地图客户端
./runRoomExplorationClient.sh
```

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#!/bin/bash
cd ~/pibot_ros/ros_ws/
source ./devel/setup.bash
roslaunch pibot_bringup bringup_with_imu.launch

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#!/bin/bash
cd ~/project/projectCarLocation
source ./devel/setup.bash
rosrun ros_merge_test ros_merge_test_node

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#!/bin/bash
cd ~/project/projectPDR
source ./devel/setup.bash
rosrun ros_merge_test ros_merge_test_node

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Code/MowingRobot/UPbot_Script/runRoomExplorationClient.sh Normal file
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#!/bin/bash
cd ~/pibot_ros/ros_ws/
source ./devel/setup.bash
roslaunch ipa_room_exploration room_exploration_client.launch

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#!/bin/bash
cd ~/pibot_ros/ros_ws/
source ./devel/setup.bash
roslaunch ipa_room_exploration room_exploration_action_server.launch

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#!/bin/bash
cd ~/obj_dec/
source ./devel/setup.bash
rosrun rknn_yolov5_demo main