From 73a1f8f0bf37a6e29bdf68b6350195c02739768e Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 29 Sep 2025 19:45:00 +0200 Subject: [PATCH 1/3] updated maintainers. updated authors. compacted demo section --- .gitignore | 3 +++ README.md | 30 ++++++++++++------------------ 2 files changed, 15 insertions(+), 18 deletions(-) diff --git a/.gitignore b/.gitignore index fb34b4d7..14fdf397 100644 --- a/.gitignore +++ b/.gitignore @@ -47,6 +47,9 @@ qtcreator-* # Emacs .#* +# VS code +.vscode + # Catkin custom files CATKIN_IGNORE diff --git a/README.md b/README.md index d23c2487..79332e81 100644 --- a/README.md +++ b/README.md @@ -27,19 +27,6 @@ The layered *Mesh Map* is integrated with *Move Base Flex (MBF)*, which provides
Demo Gif
- - - # Installation ### ROS Version @@ -74,10 +61,9 @@ Recommended entrypoint for new users: Check out the **[mesh_navigation_tutorials In the following demo videos we used the developed *continuous vector field planner* (CVP). -| Dataset and Description | Demo Video | +| Botanical Garden of Osnabrück University | Stone Quarry in the Forest Brockum | | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ | -| Botanical Garden of Osnabrück University | [![Mesh Navigation with Pluto](http://img.youtube.com/vi/qAUWTiqdBM4/0.jpg)](http://www.youtube.com/watch?v=qAUWTiqdBM4) | -| Stone Quarry in the Forest Brockum | [![Mesh Navigation with acorn19](http://img.youtube.com/vi/DFmv3wnIxug/0.jpg)](https://youtu.be/DFmv3wnIxug) | +| [![Mesh Navigation with Pluto](http://img.youtube.com/vi/qAUWTiqdBM4/0.jpg)](http://www.youtube.com/watch?v=qAUWTiqdBM4) | [![Mesh Navigation with acorn19](http://img.youtube.com/vi/DFmv3wnIxug/0.jpg)](https://youtu.be/DFmv3wnIxug) | ### Stone Quarry in the Forest in Brockum @@ -85,6 +71,10 @@ In the following demo videos we used the developed *continuous vector field plan | ------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- | | ![StoneQuarryPointCLoud](docs/images/stone_quarry/cloud.png?raw=true "Stone Quarry Point Cloud") | ![StoneQuarryHeightDiff](docs/images/stone_quarry/height_diff.jpg?raw=true "Stone Quarry Height Diff") | ![StoneQuarryVertexColors](docs/images/stone_quarry/mesh_rgb.jpg?raw=true "Stone Quarry Vertex Colors") | +### Learn to Navigate in 3D - No Robot Needed + +We provide a collection of virtual worlds within our [tutorials](https://naturerobots.github.io/mesh_navigation_docs/tutorials/). They are easy to use, even if you don’t have access to a robot or only have limited computing resources: [Explore Virtual Worlds](https://naturerobots.github.io/mesh_navigation_docs/tutorials/tutorial_worlds/). + # Software Stack This **[mesh_navigation](https://github.com/naturerobots/mesh_navigation)** stack provides a navigation server for **[Move Base Flex (MBF)](https://github.com/naturerobots/move_base_flex)**. It provides a couple of configuration files and launch files to start the navigation server with the configured layer plugins for the layered mesh map, and the configured planners and controller to perform path planning and motion control in 3D (or more specifically on 2D-manifold). @@ -235,8 +225,12 @@ For the necessary localization of the robot relative to the mesh, we recommend u Maintainers: * [Matthias Holoch](mailto:matthias.holoch@naturerobots.com) (Nature Robots) * [Alexander Mock](https://github.com/amock) (Osnabrück University) -* [Sebastian Pütz](mailto:sebastian.puetz@naturerobots.com) (Nature Robots, DFKI) +* [Justus Braun](https://github.com/justusbraun) (Osnabrück University) -Author: [Sebastian Pütz](mailto:spuetz@uos.de) +Authors: +* [Sebastian Pütz](mailto:spuetz@uos.de) (Nature Robots) +* [Alexander Mock](https://github.com/amock) (Osnabrück University) +* [Matthias Holoch](mailto:matthias.holoch@naturerobots.com) (Nature Robots) +* [Justus Braun](https://github.com/justusbraun) (Osnabrück University) We are happy to receive improvements to the mesh navigation stack. Just open an issue. PRs are welcome! From dc82d87a5cc22900c8cf965cc9879ab07c72b431 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 29 Sep 2025 19:52:46 +0200 Subject: [PATCH 2/3] set the entry point for the tutorials to the documentation page instead of the github repo --- README.md | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 79332e81..119605d7 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@

Mobile Robot Navigation in 3D Meshes

- Tutorials + Tutorials   •   Documentation   •   @@ -54,10 +54,9 @@ colcon build --packages-up-to mesh_navigation # Usage Examples and Demos -Recommended entrypoint for new users: Check out the **[mesh_navigation_tutorials](https://github.com/naturerobots/mesh_navigation_tutorials/tree/main)** for a ready-to-use mesh navigation stack. Complete with simulated environment, RViz config, mesh nav config, etc. +**Recommended entrypoint for new users:** Start with the **[mesh_navigation_tutorials](https://naturerobots.github.io/mesh_navigation_docs/tutorials/)**: a ready-to-use mesh navigation stack including simulated environments, RViz setup, and configuration files. As part of the tutorials, we also provide a collection of **virtual worlds** that work even without a robot or powerful hardware: [Explore Virtual Worlds](https://naturerobots.github.io/mesh_navigation_docs/tutorials/tutorial_worlds/). - -## Demos +## Demo Videos In the following demo videos we used the developed *continuous vector field planner* (CVP). @@ -65,15 +64,12 @@ In the following demo videos we used the developed *continuous vector field plan | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ | | [![Mesh Navigation with Pluto](http://img.youtube.com/vi/qAUWTiqdBM4/0.jpg)](http://www.youtube.com/watch?v=qAUWTiqdBM4) | [![Mesh Navigation with acorn19](http://img.youtube.com/vi/DFmv3wnIxug/0.jpg)](https://youtu.be/DFmv3wnIxug) | -### Stone Quarry in the Forest in Brockum +#### Stone Quarry in the Forest in Brockum | Colored Point Cloud | Height Diff Layer | RGB Vertex Colors | | ------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- | | ![StoneQuarryPointCLoud](docs/images/stone_quarry/cloud.png?raw=true "Stone Quarry Point Cloud") | ![StoneQuarryHeightDiff](docs/images/stone_quarry/height_diff.jpg?raw=true "Stone Quarry Height Diff") | ![StoneQuarryVertexColors](docs/images/stone_quarry/mesh_rgb.jpg?raw=true "Stone Quarry Vertex Colors") | -### Learn to Navigate in 3D - No Robot Needed - -We provide a collection of virtual worlds within our [tutorials](https://naturerobots.github.io/mesh_navigation_docs/tutorials/). They are easy to use, even if you don’t have access to a robot or only have limited computing resources: [Explore Virtual Worlds](https://naturerobots.github.io/mesh_navigation_docs/tutorials/tutorial_worlds/). # Software Stack From 6ebefd2f65f1846e0de6d33de6decd10c15a20c2 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 29 Sep 2025 19:57:51 +0200 Subject: [PATCH 3/3] added comma --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 119605d7..b165d583 100644 --- a/README.md +++ b/README.md @@ -54,7 +54,7 @@ colcon build --packages-up-to mesh_navigation # Usage Examples and Demos -**Recommended entrypoint for new users:** Start with the **[mesh_navigation_tutorials](https://naturerobots.github.io/mesh_navigation_docs/tutorials/)**: a ready-to-use mesh navigation stack including simulated environments, RViz setup, and configuration files. As part of the tutorials, we also provide a collection of **virtual worlds** that work even without a robot or powerful hardware: [Explore Virtual Worlds](https://naturerobots.github.io/mesh_navigation_docs/tutorials/tutorial_worlds/). +**Recommended entrypoint for new users:** Start with the **[mesh_navigation_tutorials](https://naturerobots.github.io/mesh_navigation_docs/tutorials/)**, a ready-to-use mesh navigation stack including simulated environments, RViz setup, and configuration files. As part of the tutorials, we also provide a collection of **virtual worlds** that work even without a robot or powerful hardware: [Explore Virtual Worlds](https://naturerobots.github.io/mesh_navigation_docs/tutorials/tutorial_worlds/). ## Demo Videos