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