ROS2 Package for simulating and executing square spiral search pattern to find points of interests, for URC Autonomous stack
Copy the package folder into the src folder of your ros2 workspace. Package was made and developed for ros2 foxy, not sure if it works on ros2 humble.
For understanding the code, check out the following scripts
- rover_spiral (Subscribes to
rotation_vectorfor yaw,\gps\fixfor gps data | Publishes cmd_vel msg tocmd_vel) - move_rover (Subscribes to
cmd_veltopic and controls arduino board) - spiral_search (Provides a list of target gps to visit, publishes to topic
gps_tagets_list)
Simulation code runs on articubot_one package, check out josh newans github repository for the robot package articubot one package for running simulation will be added soon. Two types of spirals are simulated
- Square spiral
- Circular spiral
The package also provides a script for simulating the spiral using the articubot one robot urdf.
To run the simulation, first run the spiral_search node
Then run gps_nav node
A topic diagram explaining the inter node communication is attached below.
