このパッケージはロボットのナビゲーション動作において、スタック発生時のリカバリー処理のプラグインです。 実装内容としては、スタック発生時にRDRへ外部カメラシステムにて認識したロボットの位置情報の問い合わせを行い、取得した最新の位置情報をもとにAMCLの初期位置リセットを行います。
cd ~/{ROSワークスペースディレクトリ}/src/
git clone -b "2023年度成果物" https://github.com/jadsys/relocalization_recovery.git
cd relocalization_recovery
catkin build --this
当パッケージでは外部パッケージとして以下を利用しております。
その他のパッケージは以下の方法でインストール可能です。
# vcsツールのインストール(既にインストール済みの場合スキップ)
sudo pip install -U vcstool
# rosdepのインストール
sudo apt install python3-rosdep
sudo rosdep init # 過去に実行済みの場合は実行不要
rosdep update # 過去に実行済みの場合は実行不要
# 依存関係のインストール
cd ~/{ROSワークスペースディレクトリ}/src
vcs import < relocalization_recovery/dependency.rosinstall
rosdep install -i --from-paths relocalization_recovery
catkin build
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