Cart-pushing navigation package for Care-o-bot 4

This cob_pushing repository is developed to be a part of cart-pushing navigation and following task in Intelligent Robotics Group. The cob_pushing is aimed to drive the Care-o-bot 4 to desire location in know map while the robot is holding a cart in its hands and keep the cart safe. In this work, I used SBPL_lattice_planner and TEB_local_planner to generate the trajectory of the robot. The installation of those packages is presented below.

Videos

Requirements

• Care-o-bot 4 package
• SBPL_lattice_planner

sudo apt-get install ros-kinetic-sbpl ros-kinetic-sbpl-lattice-planner

• TEB_local_planner

sudo apt-get install ros-kinetic-teb-local-planner

• Twist recovery (replace default rotation recovery behavior by backward movement recovery)

sudo apt-get install ros-kinetic-sbpl ros-kinetic-twist-recovery

Installation

cd {your-workspace}/src
git clone https://github.com/ToanLe147/cob_pushing.git 

How to use

• Simulation with Care-o-bot 4 only.

roslaunch cob_pushing cob_in_stage.launch

• Simulation cart-pushing navigation task

roslaunch cob_pushing cob_pushing_in_stage.launch

• Real robot with cart attached to its hands

export ROS_MASTER_URI=http://cob4-8-b1:11311
export ROBOT=cob4-8
export ROBOT_ENV=empty
roslaunch cob_bringup dashboard.launch
roslaunch cob_pushing cob_pushing_executive.launch

Modify Primitive Motion