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ROS2/DDS robot pkg for human following and swarm
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readme.md

ADLINK NeuronBot

Abstract

The purpose of this pkg is to demonstrate two main features of ADLINK Neuron miniITX platform.

  1. Computing Power:
    The host robot is able to follow human by integrating all outputs from SPENCER robot framework, intel "object analytics" pkg and laser based leg_tracker pkg. ADLINK Neuron illustates its computing power to run these detecting/tracking algorithms smoothly. (HOG+SVM, CNN, Template matching, EKF, MobileNetSSD, etc)
  2. ROS2/DDS Capabilities:
    The host robot (for following) is publishing its own pose with respect to known map through ROS2/DDS layer while following a human. On the other hand, the client robot (random wandering), could avoid the host robot by receiving host's pose and replaning its path.

[Official Slides] https://github.com/Adlink-ROS/adlink_neuronbot/blob/master/document/ADLINK_NeuronBot_20180313.pdf
[Youtube Video] https://youtu.be/RC6XvTvTs9Y
[Youtube Video] https://youtu.be/qA4_Hmnd_tM
alt text

Developers & Team

HaoChih Lin
Alan Chen
Chester Tseng
Bill Wang
Erik Boasson
Ryan Chen

ADLINK Technology, Inc
Advanced Robotic Platform Group

License

Apache 2.0
Copyright 2018 ADLINK Technology, Inc.

Tutorial

System Prerequisite

[Packages]

Launching Steps

  • Mapping & Time Synchronizing
  • Host robot (for following)
    $ roslaunch adlink_neuronbot NeuronBot_Demo_Host_AIO.launch
    OR (script)
    $ ./PATH_TO_WORKSPACE/adlink_neuronbot/autostart/NeuronBot_Demo_Host_AutoStart.sh
  • Client robot (for avoidance)
    $ roslaunch adlink_neuronbot NeuronBot_Demo_Client_AIO.launch
    OR (script)
    $ ./PATH_TO_WORKSPACE/adlink_neuronbot/autostart/NeuronBot_Demo_Client_AutoStart.sh

Known Issues

  • Q: move_base replanning does not work
    A: update your move_base pkg to the latest one, or compile it from source

Roadmap

  • Fix PCL detector
  • ROS2 driver for camera
  • Fix followMe node (fused inputs version)
  • Create custom ROS2/DDS msg
  • Integrate with object_analytics
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