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Differential-Drive-Robot-main.zip 大约有178个文件
  1. Differential-Drive-Robot-main/
  2. Differential-Drive-Robot-main/.gitignore 384B
  3. Differential-Drive-Robot-main/.gitmodules 905B
  4. Differential-Drive-Robot-main/README.md 4.57KB
  5. Differential-Drive-Robot-main/coppeliasim_simulation/
  6. Differential-Drive-Robot-main/coppeliasim_simulation/dynamics.ttt 400.47KB
  7. Differential-Drive-Robot-main/coppeliasim_simulation/kinematics.ttt 399.78KB
  8. Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/
  9. Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/differential_drive.urdf 3.82KB
  10. Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/differential_drive_Hokuyo_URG_04LX_UG01_body__70__.dae 51.16KB
  11. Differential-Drive-Robot-main/installation/
  12. Differential-Drive-Robot-main/installation/conda/
  13. Differential-Drive-Robot-main/installation/conda/mamba_environment.yml 330B
  14. Differential-Drive-Robot-main/installation/docker_file/
  15. Differential-Drive-Robot-main/installation/docker_file/integrated_gpu/
  16. Differential-Drive-Robot-main/installation/docker_file/integrated_gpu/dockerfile 5.36KB
  17. Differential-Drive-Robot-main/installation/docker_file/nvidia/
  18. Differential-Drive-Robot-main/installation/docker_file/nvidia/dockerfile 5.72KB
  19. Differential-Drive-Robot-main/installation/docker_file/nvidia_cuda/
  20. Differential-Drive-Robot-main/installation/docker_file/nvidia_cuda/dockerfile 6.45KB
  21. Differential-Drive-Robot-main/python_scripts/
  22. Differential-Drive-Robot-main/python_scripts/controllers/
  23. Differential-Drive-Robot-main/python_scripts/controllers/acados/
  24. Differential-Drive-Robot-main/python_scripts/controllers/acados/acados/
  25. Differential-Drive-Robot-main/python_scripts/controllers/acados/acados_model.py 1.29KB
  26. Differential-Drive-Robot-main/python_scripts/controllers/acados/acados_nmpc.py 4.72KB
  27. Differential-Drive-Robot-main/python_scripts/controllers/acados/test.py 3.64KB
  28. Differential-Drive-Robot-main/python_scripts/controllers/approximate_linearization.py 2.88KB
  29. Differential-Drive-Robot-main/python_scripts/controllers/casadi_nmpc.py 7.11KB
  30. Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/
  31. Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_cpp.py 882B
  32. Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_num_diff.py 2.62KB
  33. Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_python.py 2.56KB
  34. Differential-Drive-Robot-main/python_scripts/controllers/dynamic_linearization.py 3.21KB
  35. Differential-Drive-Robot-main/python_scripts/controllers/ilqr.py 10.52KB
  36. Differential-Drive-Robot-main/python_scripts/controllers/io_linearization.py 1.98KB
  37. Differential-Drive-Robot-main/python_scripts/controllers/io_linearization_mpc.py 5.81KB
  38. Differential-Drive-Robot-main/python_scripts/controllers/nonlinear_lyapunov.py 2.74KB
  39. Differential-Drive-Robot-main/python_scripts/controllers/predictive_sampling.py 14.06KB
  40. Differential-Drive-Robot-main/python_scripts/maps/
  41. Differential-Drive-Robot-main/python_scripts/maps/map.pgm 140.32KB
  42. Differential-Drive-Robot-main/python_scripts/path_utilities.py 2.21KB
  43. Differential-Drive-Robot-main/python_scripts/planners/
  44. Differential-Drive-Robot-main/python_scripts/planners/grid_based/
  45. Differential-Drive-Robot-main/python_scripts/planners/grid_based/a_star.py 8KB
  46. Differential-Drive-Robot-main/python_scripts/planners/grid_based/breadth_first_search.py 6.83KB
  47. Differential-Drive-Robot-main/python_scripts/planners/grid_based/djikstra.py 7.55KB
  48. Differential-Drive-Robot-main/python_scripts/planners/grid_based/greedy_best_first_search.py 7.49KB
  49. Differential-Drive-Robot-main/python_scripts/planners/sampling_based/
  50. Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt.py 7.75KB
  51. Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt_primitives.py 8.76KB
  52. Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt_star.py 7B
  53. Differential-Drive-Robot-main/python_scripts/robot_model.py 2.93KB
  54. Differential-Drive-Robot-main/python_scripts/test/
  55. Differential-Drive-Robot-main/python_scripts/test/test_controllers.py 5.71KB
  56. Differential-Drive-Robot-main/python_scripts/test/test_planning_time.py 2.33KB
  57. Differential-Drive-Robot-main/python_scripts/test/test_single_planner.py 1.33KB
  58. Differential-Drive-Robot-main/ros2_ws/
  59. Differential-Drive-Robot-main/ros2_ws/src/
  60. Differential-Drive-Robot-main/ros2_ws/src/controllers/
  61. Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/
  62. Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/__init__.py
  63. Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/base_controller.py 4.74KB
  64. Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/run_controllers.py 8.26KB
  65. Differential-Drive-Robot-main/ros2_ws/src/controllers/package.xml 945B
  66. Differential-Drive-Robot-main/ros2_ws/src/controllers/resource/
  67. Differential-Drive-Robot-main/ros2_ws/src/controllers/resource/controllers
  68. Differential-Drive-Robot-main/ros2_ws/src/controllers/setup.cfg 91B
  69. Differential-Drive-Robot-main/ros2_ws/src/controllers/setup.py 1.25KB
  70. Differential-Drive-Robot-main/ros2_ws/src/controllers/test/
  71. Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_copyright.py 962B
  72. Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_flake8.py 884B
  73. Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_pep257.py 803B
  74. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/
  75. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/CMakeLists.txt 1.01KB
  76. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/COLCON_IGNORE
  77. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/Findpigpio.cmake 1.05KB
  78. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/
  79. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/rotary_encoder.cpp 2.26KB
  80. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/rotary_encoder.hpp 752B
  81. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/package.xml 741B
  82. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/
  83. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/motor.cpp 13.65KB
  84. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/test.cpp 4KB
  85. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/
  86. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/
  87. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/CMakeLists.txt 724B
  88. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/Findpigpio.cmake 1.05KB
  89. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/
  90. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/CMakeCache.txt 12.36KB
  91. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/CMakeFiles/
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  127. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/cmake_install.cmake 1.49KB
  128. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/data_log.txt
  129. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/dc_motor 52.19KB
  130. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/rotary_encoder.cpp 2.92KB
  131. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/rotary_encoder.hpp 754B
  132. Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/test.cpp 7.42KB
  133. Differential-Drive-Robot-main/ros2_ws/src/external/
  134. Differential-Drive-Robot-main/ros2_ws/src/external/kiss-icp/
  135. Differential-Drive-Robot-main/ros2_ws/src/external/pointcloud_to_laserscan/
  136. Differential-Drive-Robot-main/ros2_ws/src/external/ros2_bubble_rob/
  137. Differential-Drive-Robot-main/ros2_ws/src/external/simROS2/
  138. Differential-Drive-Robot-main/ros2_ws/src/external/tf_transformations/
  139. Differential-Drive-Robot-main/ros2_ws/src/planners/
  140. Differential-Drive-Robot-main/ros2_ws/src/planners/package.xml 942B
  141. Differential-Drive-Robot-main/ros2_ws/src/planners/planners/
  142. Differential-Drive-Robot-main/ros2_ws/src/planners/planners/__init__.py
  143. Differential-Drive-Robot-main/ros2_ws/src/planners/planners/run_planners.py 9.45KB
  144. Differential-Drive-Robot-main/ros2_ws/src/planners/resource/
  145. Differential-Drive-Robot-main/ros2_ws/src/planners/resource/planners
  146. Differential-Drive-Robot-main/ros2_ws/src/planners/setup.cfg 85B
  147. Differential-Drive-Robot-main/ros2_ws/src/planners/setup.py 656B
  148. Differential-Drive-Robot-main/ros2_ws/src/planners/test/
  149. Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_copyright.py 962B
  150. Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_flake8.py 884B
  151. Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_pep257.py 803B
  152. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/
  153. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/launch/
  154. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/launch/state_publisher_launch.py 1.67KB
  155. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/package.xml 711B
  156. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/resource/
  157. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/resource/state_estimation
  158. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/setup.cfg 101B
  159. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/setup.py 932B
  160. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/state_estimation/
  161. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/state_estimation/__init__.py
  162. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/state_estimation/state_publisher.py 5.02KB
  163. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/
  164. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/test_copyright.py 962B
  165. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/test_flake8.py 884B
  166. Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/test_pep257.py 803B
  167. Differential-Drive-Robot-main/ros2_ws/src/utilities/
  168. Differential-Drive-Robot-main/ros2_ws/src/utilities/command.txt 250B
  169. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/
  170. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/
  171. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.data 115.92KB
  172. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.pgm 3.24KB
  173. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.posegraph 4.87MB
  174. Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.yaml 134B
  175. Differential-Drive-Robot-main/ros2_ws/src/utilities/plotjuggler_config/
  176. Differential-Drive-Robot-main/ros2_ws/src/utilities/plotjuggler_config/plot_juggler_ddrive.xml 5.72KB
  177. Differential-Drive-Robot-main/ros2_ws/src/utilities/rviz_config/
  178. Differential-Drive-Robot-main/ros2_ws/src/utilities/rviz_config/common.rviz 9.06KB

资源介绍:

Differential-Drive-Robot-main.zip
## Overview This repo contains the code for controlling both a real and a simulated differential drive robot via ROS2 using different planners, controllers, and open-source libraries for slam and odometry. ## List of available controllers 1. Approximate linearization 2. Input-Output linearization 3. Input-Output linearization + Linear MPC via Casadi 4. Dynamic linearization 5. Nonlinear Lyapunov 6. Nonlinear MPC via Casadi 7. Nonlinear MPC via Acados 8. Iterative Linear Quadratic Regulator 9. Iterative Linear Quadratic Regulator via Crocoddyl 10. Predictive Sampling MPC ## List of available planners 1. A* 2. Breadth First search 3. Djikstra 4. Greedy Best First search 5. RRT 6. RRT* (in progress) 7. RRT-primitives ## Repository structure It includes the following folders and subfolders: 1. ```python_scripts```: most of the ROS2 nodes call some classes here 2. ```coppeliasim_simulation```: scenes used for simulating the robot (dynamically enabled or not) 3. ```ros2_ws```: collection of ROS2 nodes for controlling the robot with the aid of some external tools such as ```slam_toolbox``` (generate a map and localization) and ```kiss-icp``` (lidar odometry) ## Dependencies 1. [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html) 2. [CoppeliaSim](https://www.coppeliarobotics.com/downloads) 3. [kiss-icp](https://github.com/PRBonn/kiss-icp) 4. [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) ## Build on linux 1. clone the repo ```sh git clone --recurse-submodules https://github.com/giulioturrisi/differential_drive.git ``` 2. extract CoppeliaSim in Differential-Drive-Robot/coppeliasim_simulation 3. add the following ls in ros2_ws/src/simExtROS2/meta/interfaces.txt ```sh geometry_msgs/msg/Twist geometry_msgs/msg/TwistStamped sensor_msgs/msg/LaserScan ``` 4. build the docker file inside Differential-Drive-Robot/docker_file/integrated_gpu or /nvidia ```sh docker build -t ros2_humble . ``` 5. add alias to start the docker ```sh cd gedit .bashrc alias ddrive_humble='xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix:rw --device=/dev/input/ -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e QT_X11_NO_MITSHM=1 --gpus all --name ddrive_humble ros2_humble' (if used /nvidia) alias ddrive_humble="xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri --device=/dev/input/ -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY --name ddrive_humble ros2_humble" (if used /integrated_gpu) alias ddrive_humble='xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER -e LD_LIBRARY_PATH=/usr/lib/wsl/lib --name ddrive_humble ros2_humble' (if Windows Linux Subsystem) alias ddrive='docker exec -it ddrive_humble bash' (to attach a new terminal to the running docker) ``` 6. start docker and build ```sh ddrive_humble cd ros2_ws rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble ulimit -s unlimited colcon build --symlink-install ``` ## How to run the simulation All the commands below can be easily launched via some aliases. Check them by activating the docker ```ddrive_humble``` and writing on the keyboard ```launch_``` (plus tab for the autocomplete) Follow the commands below to run all the framework: 1. on a new terminal first launch the simulation ```sh launch_sim_kinematics (scene with kinematics) launch_sim_dynamics (scene with dynamics) ``` 2. on each new terminal, then launch all the other packages ```sh launch_joy (to use the joystick) launch_rviz (visualization) launch_planners (planning) launch_controllers (control) launch_lidar_odometry (tf and kiss-icp) launch_slam (slam-toolbox) ros2 launch ydlidar_ros2_driver ydlidar_launch.py (ydlidar - only real robot) ``` 3. you can choose a goal pose in Rviz2 clicking 2D Goal Pose ## Status Still working in progress, the real robot exists but it's not yet finalized!
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