diff --git a/README.md b/README.md index 0f01951..9e1efaf 100644 --- a/README.md +++ b/README.md @@ -1,56 +1,50 @@ -teb_local_planner ROS Package -============================= +# Gói pose_se2 ROS -The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. -The underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time, -separation from obstacles and compliance with kinodynamic constraints at runtime. +## Mô tả -Refer to http://wiki.ros.org/teb_local_planner for more information and tutorials. +Gói `pose_se2` cung cấp một lớp C++ để biểu diễn pose 2D trong không gian SE2: \(\mathbb{R}^2 \times S^1\). Pose bao gồm vị trí x, y và hướng theta (góc yaw) trong khoảng [-π, π]. -Build status of the *melodic-devel* branch: -- ROS Buildfarm (Melodic): [![Melodic Status](http://build.ros.org/buildStatus/icon?job=Mdev__teb_local_planner__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__teb_local_planner__ubuntu_bionic_amd64/) - - -## Citing the Software - -*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the planner for your own research:* - -- C. Rösmann, F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, Vol. 88, 2017, pp. 142–153. -- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, May 2012, pp 74–79. -- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143. -- C. Rösmann, F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, Proc. IEEE European Conference on Mobile Robots, UK, Lincoln, Sept. 2015. -- C. Rösmann, F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sept. 2017. - -Buy Me A Coffee - -## Videos - -The left of the following videos presents features of the package and shows examples from simulation and real robot situations. -Some spoken explanations are included in the audio track of the video. -The right one demonstrates features introduced in version 0.2 (supporting car-like robots and costmap conversion). Please watch the left one first. - - - - -## License - -The *teb_local_planner* package is licensed under the BSD license. -It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed. - -Some third-party dependencies are included that are licensed under different terms: - - *Eigen*, MPL2 license, http://eigen.tuxfamily.org - - *libg2o* / *g2o* itself is licensed under BSD, but the enabled *csparse_extension* is licensed under LGPL3+, - https://github.com/RainerKuemmerle/g2o. [*CSparse*](http://www.cise.ufl.edu/research/sparse/CSparse/) is included as part of the *SuiteSparse* collection, http://www.suitesparse.com. - - *Boost*, Boost Software License, http://www.boost.org - -All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details. - -## Requirements - -Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*: - - rosdep install teb_local_planner +Lớp `PoseSE2` hỗ trợ các phép toán số học cơ bản, chuyển đổi với ROS messages, và các chức năng tiện ích cho robotics. + +## Yêu cầu + +- ROS (Robot Operating System) +- Eigen (thư viện đại số tuyến tính) +- robot_geometry_msgs +- data_convert (có thể là gói nội bộ) + +## Cài đặt và xây dựng + +Sử dụng `rosdep` để cài đặt các phụ thuộc: + +``` +rosdep install pose_se2 +``` + +Sau đó, xây dựng với catkin: + +``` +catkin_make +``` + +## Sử dụng + +Bao gồm header: + +```cpp +#include +``` + +Ví dụ tạo pose: + +```cpp +pose_se2::PoseSE2 pose(1.0, 2.0, 0.5); // x=1, y=2, theta=0.5 +``` + +## Giấy phép + +Gói `pose_se2` được cấp phép dưới BSD license. + +Tác giả: Christoph Rösmann (TU Dortmund)