Isaac-Sim-Warehouse

Developing for Controlling Our AMR in the Simulation Warehouse

Youtube

https://www.youtube.com/watch?v=RTxQUHCtFu8&t=22s

Functions

1. Move Goods Zone

2. Recognization

Recognizing Goods

3. Load Goods

• Priority Product : Red, Green, Blue Product
• Priority Direction : Closer Side to Load Zone

Turning to Target Goods (Convert to Left or Right Cam)

Matching To Target Goods's Rolltainer and Move to it

Pose Setting, Turning to Target Goods (Convert to Front Cam)

Move to Target Goods as traking target Rolltainer with CAM (Darknet_ROS)

Entering to Rolltainer with Lidar (Pose Fine Tuning)

Lifting Up Target Goods

Move to Target's Load Zone and Lifting Down, Escaping Target Goods

4. Move Wait Zone

Test

sh start_project_container.sh

• start docker container

roslaucnh lotti_nav move_base.launch
roslaucnh lotti_nav rviz.launch
roslaucnh lotti_nav lotti_operate.launch

• launch 3 files (Warning : Start Order)

My Controller