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铲运车在ROS下的运动学模型构建与运动导航控制系统

该项目旨在创建一辆铰接式铲运机模型,在gazebo中进行建模仿真,并设计相应的环境感知,路径规划,路径跟踪控制模块。

系统使用Ubuntu 20.04 ,ros框架采用ROS-noetic


1.下载和编译

  1. git clone https://github.com/KJ-Falloutlast/articulated_vehicle.git

  2. 安装所需要的依赖

    sudo apt-get install ros-noetic-velocity-controllers 
    sudo apt-get install ros-noetic-position-controllers 
    
  3. 进行编译

    catkin_make
    

2.启动方法

  1. 启动底盘驱动:roslaunch mrobot_description rosbot_spawn.launch
  2. 启动导航:roslaunch mrobot_navigation amcl_nav.launch

3.效果图                           

3-0.demo_video  

3-1.rqt_graph    

rosgraph_amcl

3-2.铰接车的坐标图

2023-02-15 00-51-50 的屏幕截图

3-3.铰接车的tf_tree

rqt_tree

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This is an auto control system of an articulated_vehicle

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