This package is an extend Cartographer_ros package for robot auto-patrol. In this package, we add a voice command for robot. Otherwise, it should cooperate with follow ROS packages. Back to talk about this package, we finished a Nav goal labelling , Auto patrol,Mapping,Localizaton initial pose and Voice command navigation. We tested those functions on AutoLabor Robot Platform and ROS Kinetic.
- Cartographer
- baidu_speech
- *voice_command. You can also choose this one to replace
baidu_speech. - rviz_navigation_plugin
- A Real Robot Driver
For starting auto-patrol, make sure you have compiled front dependencies correctly.
# build a map
1. roslaunch cartographer_ros autolabor_cartographer.launch
# save map
2. rosservice call /finish_trajectory "stem:'good'"
# switch to package dir
3. cd ../cartographer_ros
# move map to maps folder
4. mv ~/.ros/good.pgm ../cartographer_ros/maps/good.pgm
5. mv ~/.ros/good.yaml ../cartographer_ros/maps/good.yaml
# start patrol
6. roslaunch cartographer_ros cartographer_navigaiton.launch
-
/amcl_pose
use to record2D Estimate Poseonrvizto initial robot pose. -
/my_nav_goal
use to record navigation goals published byrviz_navigation_plugin. -
/point_label
use to record labels of navigation goals published byrviz_navigation_plugin. -
/clear_nav_point
listen to message of dropping all goals for patrol.
- /reg_result
listen to the result of voice recogniton.
- /initialpose
to initialize the robot pose with the last record.
- patrol_service the service for robot auto-patrol
##More There maybe bugs need to fixed.