Overview

The package has many functions such as mapping, positioning, navigation, path planning, and integrated services demo including navigation, face recognition, and voice conversations. The package relies on the xbot-u robot platform and other packages such as xbot, xbot_talker and xbot_face. See the gmapping, move_base, amcl and cartographer package for more details to configure the mapping and navigation parameters.

Examples

map_building

To make a map from xbot-u robot with gmapping package:

roslaunch xbot_navi build_map.launch

Then run the visualization program on the PC as the ROS slave:

roslaunch xbot_navi rviz_build_map.launch

Or you can choose to use google open source cartographer to make a map:

roslaunch xbot_navi build_map_carto.launch

SLAM navigation

Navigate via move_base and amcl:

roslaunch xbot_navi demo.launch

Or use cartographer to navigate:

roslaunch xbot_navi navi_carto.launch

Integrated services demo

The service aggregates navigation, face recognition, and voice conversation into a single service. Users need to modify the configuration files param/kp.json and param/greet.json to manage keypoints and face greetings. Operation can refer to:

roslaunch xbot_navi demo.launch