更新算法运行脚本

Code/MowingRobot/PIBot_ROS/ros_ws/src/README.md

@@ -0,0 +1,6 @@
+## 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。
+

Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/README.md

@@ -1,11 +1,17 @@
 # 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 |
 |:-------:|:------:|:----:|:-------:|:-------:|:-------:|
@@ -13,25 +19,24 @@ If you find this software useful in your work, please cite our corresponding pap
 | 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
 ```
 
+### 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

Code/MowingRobot/README.md

@@ -11,21 +11,20 @@ PIBot官方资料：https://gitee.com/pibot/pibot_bringup/blob/master/doc/README
 
 > 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
 ```
 
+
+

Code/MowingRobot/UPbot_Script/runBringUp.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/pibot_ros/ros_ws/
+source ./devel/setup.bash
+roslaunch pibot_bringup bringup_with_imu.launch

Code/MowingRobot/UPbot_Script/runCarLocation.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/project/projectCarLocation
+source ./devel/setup.bash
+rosrun ros_merge_test ros_merge_test_node

Code/MowingRobot/UPbot_Script/runPDR.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/project/projectPDR
+source ./devel/setup.bash
+rosrun ros_merge_test ros_merge_test_node

Code/MowingRobot/UPbot_Script/runRoomExplorationClient.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/pibot_ros/ros_ws/
+source ./devel/setup.bash
+roslaunch ipa_room_exploration room_exploration_client.launch

Code/MowingRobot/UPbot_Script/runRoomExplorationServer.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/pibot_ros/ros_ws/
+source ./devel/setup.bash
+roslaunch ipa_room_exploration room_exploration_action_server.launch

Code/MowingRobot/UPbot_Script/runStereo.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+cd ~/obj_dec/
+source ./devel/setup.bash
+rosrun rknn_yolov5_demo main