nav_2023中有3个版本的代码:
代码名称 | 说明 |
---|---|
exploration_530 | 分区赛上场代码,导航随动,未添加全局规划 |
exploration_3_ws | 导航随动代码和全向移动代码过渡版本 |
exploration726_ws | 全国赛上场代码,导航全向移动,增加全局规划 |
exploration11_ws | 增加动态代价地图 |
代码基于ubuntu20.04+ros-noetic开发,需要配置以下驱动及安装包。
-
Livox-SDK
https://github.com/Livox-SDK
-
livox-ros-driver2
https://github.com/Livox-SDK
-
realsense-ros
https://github.com/IntelRealSense/realsense-ros
-
LIO-Livox , Fast-LIO , Faster-LIO 和 Point-LIO
https://github.com/Livox-SDK/LIO-Livox https://github.com/hku-mars/FAST_LIO https://github.com/gaoxiang12/faster-lio https://github.com/hku-mars/Point-LIO
-
cmu-exploration仿真环境安装
https://www.cmu-exploration.com https://github.com/HongbiaoZ/autonomous_exploration_development_environment