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L-CAS specific works on ILIAD project
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base_simulation
envelope_manager
gazebo_plugins
hri_simulation
iliad_human_local_navigation
iliad_launch
iliad_smp_planner
nav_simulation
taros19_experiments
twist_controller
.gitignore
README.md

README.md

Packages and description:

Note: Those packages are still in early development ("hic sunt dracones")

twist_controller (previously zombie)

Extremely simple forklift controller. Contains a basic ROS/CAN bridge and a simple command converter. Command converter transforms from rot/trans vel commands (like a differential robot) to steering angle/speed and motor wheel speed.

base_simulation (previously in package named demo)

Gazebo world configurations and simulated forklifts used in other packages.

nav_simulation (previously in package named demo)

Shows simulated forklift using ROS navigation stacks. Currently testing TEB planner and ROS DWA.

hri_simulation

Depends on base and navigatio simulation packages. It simulates human aware navigation.

envelope_manager

C++ version for mpc constraints. Still an early stub.

gazebo_plugins

Actor collision plugin and binary contact sensor. The first is working nicely, the second was made redundant by contact_monitor (see correspoding repo at https://github.com/LCAS/gazebo-contactMonitor)

iliad_human_local_navigation

Experiments for the human aware local navigation

iliad_launch

Deprecated. Global launchers for ILIAD project are now at gitlab repos.

iliad_smp_planner

Luigi Palmieri already did this. This is a proof of concept of a ROS-compatible ILIAD planner.

taros19_experiments

Launchers to create simulation experiments with same conditions but different navigation stacks. To be used in TAROS'19 paper.

Source dependences:

Remember to source after building with catkin_make -DCMAKE_BUILD_TYPE=Release

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