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README.md
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teb_local_planner ROS Package
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=============================
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# Gói pose_se2 ROS
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The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack.
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The underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time,
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separation from obstacles and compliance with kinodynamic constraints at runtime.
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## Mô tả
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Refer to http://wiki.ros.org/teb_local_planner for more information and tutorials.
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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].
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Build status of the *melodic-devel* branch:
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- ROS Buildfarm (Melodic): [](http://build.ros.org/job/Mdev__teb_local_planner__ubuntu_bionic_amd64/)
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## Citing the Software
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*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:*
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- 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.
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- 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.
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- 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.
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- 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.
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- 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.
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<a href="https://www.buymeacoffee.com/croesmann" target="_blank"><img src="https://cdn.buymeacoffee.com/buttons/lato-black.png" alt="Buy Me A Coffee" height="31px" width="132px" ></a>
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## Videos
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The left of the following videos presents features of the package and shows examples from simulation and real robot situations.
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Some spoken explanations are included in the audio track of the video.
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The right one demonstrates features introduced in version 0.2 (supporting car-like robots and costmap conversion). Please watch the left one first.
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<a href="http://www.youtube.com/watch?feature=player_embedded&v=e1Bw6JOgHME" target="_blank"><img src="http://img.youtube.com/vi/e1Bw6JOgHME/0.jpg"
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alt="teb_local_planner - An Optimal Trajectory Planner for Mobile Robots" width="240" height="180" border="10" /></a>
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<a href="http://www.youtube.com/watch?feature=player_embedded&v=o5wnRCzdUMo" target="_blank"><img src="http://img.youtube.com/vi/o5wnRCzdUMo/0.jpg"
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alt="teb_local_planner - Car-like Robots and Costmap Conversion" width="240" height="180" border="10" /></a>
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## License
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The *teb_local_planner* package is licensed under the BSD license.
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It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed.
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Some third-party dependencies are included that are licensed under different terms:
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- *Eigen*, MPL2 license, http://eigen.tuxfamily.org
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- *libg2o* / *g2o* itself is licensed under BSD, but the enabled *csparse_extension* is licensed under LGPL3+,
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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.
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- *Boost*, Boost Software License, http://www.boost.org
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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.
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## Requirements
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Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*:
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rosdep install teb_local_planner
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Lớp `PoseSE2` hỗ trợ các phép toán số học cơ bản, chuyển đổi với ROS messages, và các chức năng tiện ích cho robotics.
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## Yêu cầu
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- ROS (Robot Operating System)
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- Eigen (thư viện đại số tuyến tính)
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- robot_geometry_msgs
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- data_convert (có thể là gói nội bộ)
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## Cài đặt và xây dựng
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Sử dụng `rosdep` để cài đặt các phụ thuộc:
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```
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rosdep install pose_se2
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```
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Sau đó, xây dựng với catkin:
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```
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catkin_make
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```
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## Sử dụng
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Bao gồm header:
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```cpp
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#include <pose_se2/pose_se2.h>
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```
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Ví dụ tạo pose:
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```cpp
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pose_se2::PoseSE2 pose(1.0, 2.0, 0.5); // x=1, y=2, theta=0.5
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```
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## Giấy phép
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Gói `pose_se2` được cấp phép dưới BSD license.
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Tác giả: Christoph Rösmann (TU Dortmund)
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