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.
Depends on base and navigatio simulation packages. It simulates human aware navigation.
C++ version for mpc constraints. Still an early stub.
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)
Experiments for the human aware local navigation
Deprecated. Global launchers for ILIAD project are now at gitlab repos.
Luigi Palmieri already did this. This is a proof of concept of a ROS-compatible ILIAD planner.
Launchers to create simulation experiments with same conditions but different navigation stacks. To be used in TAROS'19 paper.
Remember to source after building with
ghmm (required by qsr_lib) http://ghmm.sourceforge.net/installation.html
Spencer people tracking (iliad branch) https://github.com/LCAS/spencer_people_tracking/tree/ilidad-dev
TF utilities for BAG files https://github.com/LCAS/tf_bag