ROS-AGVS

Schedule Software

No.	Features	State	Date
1	Flow chart	Finish	7/22
2	AGVS model	Finish	7/23
3	Goods model	Finish	7/23
4	Map model	Finish	7/24
5	AGVS controller	Finish	7/27
6	Read Lidar data	Finish	7/27
7	Move AGVS	Finish	7/28
8	SLAM map	Finish	7/31
9	Navigation	Finish	8/04
10	Location calculation	N/A	N/A
11	Angle calculation	N/A	N/A
12	Distance calculation	N/A	N/A
13	Imformation collection	N/A	N/A
14	Instruction decode	N/A	N/A

Schedule Hardware

No.	Features	State	Date
1	Robot move (Raspberry)	N/A	N/A
2	Lidar	N/A	N/A
3	Image recognition	N/A	N/A
4	Movement correction	N/A	N/A
5	Arduino control	N/A	N/A
6	Integration	N/A	N/A
7	Debug	N/A	N/A

Description

agv_description

This folder is model of agv.

agvs_slam

This folder is slam, use gmapping.

agvs_navigation

This folder is navigation, we have to send goal.

agvs_teleop

This folder is using keybord to control agv.

agvs_control

This folder is controller of agv.

cmd_vel_transfer_to_agvs

This folder is change cmd_vel to our agvs velocity.

ira_laser_tools

This folder is mix two laser scan.

How to use

slam

1.Lanuch model

roslaunch agv_description display_agv_base_xacro.launch 

2.Lanuch mix two scan

roslaunch ira_laser_tools laserscan_multi_merger.launch 

3.Run tf

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0.0 0.0 map base_link 100 

4.Lanuch slam

roslaunch agvs_slam agvs_slam.launch

5.Lanuch teleop

roslaunch agvs_teleop agvs_teleop.launch

Navigation

1.Lanuch model

roslaunch agv_description display_agv_base_xacro.launch 

2.Lanuch mix two scan

roslaunch ira_laser_tools laserscan_multi_merger.launch 

3.Lanuch navigation

roslaunch agvs_navigation agvs_navigation.launch 

4.Send goal

rostopic pub /move_base/goal