Automatic Parking

This automatic_parking package can be divied into two parts, pattern recognition and moving to goal. In pattern recogintion, this package depends on laser_line extraction package to turn laser point clouds into line segments. Then, this package will go through these line segments to find the designed pattern and broadcast a frame, dock frame. After the frame being populated, the robot will move to the dock and the strategy is shown as the gif below. The ROS version is Melodic.

Dependency

Laser Line Extraction

Usage

Creat a new work space

mkdir -p docking_ws/src
cd docking_ws/src

Clone the automatic parking package.

git clone https://github.com/CuteJui/automatic_parking.git

Clone the Laser Line Extraction package.

git clone https://github.com/kam3k/laser_line_extraction
cd ..

Build the package.

catkin_make

Launch the package.

roslaunch auto_dock auto_dock.launch

Topics

Subscribed Topics

/line_segments (laser_line_extraction/LineSegmentList)

Published Topics

/cmd_vel (geometry_msgs/Twist)

Parameters

Pattern Angle Definition

Pattern Parameters Definition

pattern_angle1 (default: 4.21)
- Theta 1 as shown in pattern angle definition. Note that the unit is radian.
pattern_angle2 (default: 1.57)
- Theta 2 as shown in pattern angle definition. Note that the unit is radian.
pattern_angle3 (default: 4.21)
- Theta 3 as shown in pattern angle definition. Note that the unit is radian.
detect_angle_tolerance (default: 0.1)
- The maximum difference between detected angle and pattern angle(pattern_angle1, pattern_angle2, pattern_angle3)
group_dist_tolerance (default: 0.1)
- The maximum distance between two line to be recognize as a part of pattern. Such as the distance between the end point of detected vector b and the start point of detected vector a should smaller than group_dist_tolerance to be consider as a part of pattern.
laser_frame_id (default: "laser_frame")
- The laser frame of the robot.
base_frame_id (default: "base_link")
- The base frame of the robot.
min_v (default: 0.1)
- Minimum linear velocity of the robot.
min_w (default: 0.1)
- Minimum angular velocity of the robot.
max_v (default: 0.3)
- Maximum linear velocity of the robot.
max_w (default: 0.3)
- Maximum angular velocity of the robot.
threshold_v (default: 0.3)
- The threshold of changing between minimum and maximum linear velocity.
threshold_w (default: 0.4)
- The threshold of changing between minimum and maximum angular velocity.
dist_to_dock (default: 0.2)
- Distance to the dock frame.
dist_to_center (default: 0.03)
- Distance to the center.

Model

There are models of dock for Gazebo simulation in "Model" file.

Dock 1

The size of dock 1 is shown as the picture below.

Dock 2

The size of dock 2 is shown as the picture below.

yrh2526 / automatic_parking Goto Github PK