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UR-Lunabotics

Repository holding all UR Lunabotics 2021-2022 software Developed by the UR Robotics Club

Contributors:

  • Benned Hedegaard

Algorithms Implemented:

  • Velocity-based motion model for forward simulation of a differential drive robot.
  • A* search for planning paths on a discrete grid.
  • Pure pursuit for path-following control.
  • Occupancy grid mapping using laserscan sensor data.

Demonstrations:

Simulator - Run roslaunch simulator simulator-demo.launch to see the simulator handle a constant motion command. The robot should drive in a circle.

Planner - Run roslaunch planner planner_demo.launch to see the planner operate on a continuous stream of queries from (0,0) to points on a 3m-radius circle.

Joystick Control - Run roslaunch simulator joystick-demo.launch to control a simulated robot using a joystick controller connected via USB to the machine running ROS.

ur-lunabotics's People

Contributors

benned-h avatar bklein10 avatar

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