# OpenRobotics

**Repository Path**: kczy/OpenRobotics

## Basic Information

- **Project Name**: OpenRobotics
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-07-19
- **Last Updated**: 2024-07-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<center> <font color='green' size=10> <b>ROS2: OpenRoboticsToolkit</b> </font>  </center>

## Introduction

* 此工程为导航算法需要的基础知识。[详细文档](https://ros2-tutorials.readthedocs.io/en/latest/#)
* 此工程在孵化ROS2的四足机器人项目。
* 详细的视频讲解 [哔哩哔哩 bilibili](https://space.bilibili.com/478832908)

## Part I ROS2 rclcpp

<table style="width:100%">
  <tr>
    <th>
      <p align="center">
           <img src="./images/ros2_basics/topic/Topic-SinglePublisherandSingleSubscriber.gif" alt="Overview" width="60%" height="60%">
           <br>ROS2 Topic
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/service/Service-MultipleServiceClient.gif" alt="Overview" width="60%" height="60%">
           <br>ROS2 Service
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_basics/parameters/ros2_parameters.png" alt="Overview" width="60%" height="60%">
           <br>ROS2 Parameters
        </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/action/Action-SingleActionClient.gif"                         alt="Overview" width="60%" height="60%">
           <br>ROS2 Action
        </p>
    </th>
  </tr>
    <th>
      <p align="center">
           <img src="./images/ros2_basics/lifecycle/lifecycle.png" alt="Overview" width="60%" height="60%">
           <br>ROS2 Lifecycle
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/composition/composition.png" alt="Overview" width="60%" height="60%">
           <br>ROS2 Composition
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_basics/timer/timer.png" alt="Overview" width="60%" height="60%">
           <br>ROS2 Timer
        </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/executor/executor.png" alt="Overview" width="60%" height="60%">
           <br>ROS2 Executors
        </p>
    </th>
</table>
* ROS2 Topic 
* ROS2 Service
* ROS2 Parameters
* ROS2 Action
* ROS2 Lifycycle
* ROS2 Composition
* ROS2 Timer
* ROS2 Executors

## Part II RVIZ2可视化

<table style="width:100%">
  <tr>
    <th>
      <p align="center">
           <img src="./images/ros2_basics/rviz/circle_path.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Path
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/rviz/lissajous_path.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Trajectory
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_basics/rviz/pioint_and_line.gif" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: Point and Line
        </p>
    </th>
     <th>
      <p align="center">
           <img src="./images/ros2_basics/rviz/cube_shape.gif" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: Cube shape
      </p>
    </th>
  </tr>
   <tr>
     <th><p align="center">
           <img src="./images/ros2_basics/rviz/simple_marker.gif" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: Simple marker
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_basics/rviz/cubes.gif" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: cube
        </p>
    </th>
     <th>
      <p align="center">
           <img src="./images/ros2_basics/rviz/ArrowMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: ArrowMarker
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_basics/rviz/CubeListMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: CubeListMarker
        </p>
    </th>
  </tr>
  <tr>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/CylinderMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: CylinderMarker
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/LineListMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: LineListMarker
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/LineStripMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: LineStripMarker
        </p>
    </th> 
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/PointsMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: PointsMarker
        </p>
    </th>
  </tr>
  <tr>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/SphereListMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: SphereListMarker
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/SphereMarker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: SphereMarker
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/mesh_resource_marker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: mesh_resource_marker
        </p>
    </th> 
    <th><p align="center">
           <img src="./images/ros2_basics/rviz/triangle_list_marker.png" alt="Overview" width="60%" height="60%">
           <br>RVIZ Marker: triangle_list_marker
        </p>
    </th>
  </tr>
</table>

* RVIZ Path
* RVIZ Trajectory
* RVIZ Marker 

## Part III Gazebo仿真

<table style="width:100%">
  <tr>
    <th>
      <p align="center">
         <img src="./images/ros2_simulations/sam_bot_description.png" alt="Overview" width="60%" height="60%">
         <br>Gazebo: sam_bot_description
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_simulations/turtlebot3.png" alt="Overview" width="60%" height="60%">
           <br>Gazebo: turtlebot3
        </p>
    </th>
  </tr>
</table>


* Gazebo Sensors
* Gazebo Differential Robot

## Part IV Behavior Tree

<table style="width:100%">
  <tr>
    <th>
      <p align="center">
          <img src="./images/ros2_navigation/behavior_tree/bt_sequence.svg" alt="Overview" width="60%" height="60%">
           <br>BT: Action
      </p>
    </th>
        <th><p align="center">
          <img src="./images/ros2_navigation/behavior_tree/bt_sequence.svg" alt="Overview" width="60%" height="60%">
           <br>BT: Control
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_navigation/behavior_tree/bt_sequence.svg" alt="Overview" width="60%" height="60%">
           <br>BT: Condition
        </p>
    </th>
        <th><p align="center">       
            <img src="./images/ros2_navigation/behavior_tree/bt_sequence.svg" alt="Overview" width="60%" height="60%">
            <br>BT: Decorator    
           </p>
      	</th>
    </tr>
</table>


* BT: Action
* BT: Control
* BT: Condition
* BT: Decorator

## Part V GridMap

<table style="width:100%">
  <tr>
    <th>
      <p align="center">
           <img src="./images/ros2_gridmap/anymal_sdf_demo.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: anymal_sdf_demo
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_gridmap/ellipse_iterator_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: ellipse_iterator_preview
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_gridmap/filters_demo_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: filters_demo_preview
        </p>
    </th>
     <th>
      <p align="center">
           <img src="./images/ros2_gridmap/grid_cells_preview.jpg" alt="Overview" width="60%" height="60%">
           <br>GridMap: grid_cells_preview
      </p>
    </th>
  </tr>
   <tr>
     <th><p align="center">
           <img src="./images/ros2_gridmap/grid_map_rviz_plugin_example.png" alt="Overview" width="60%" height="60%">
           <br>GridMap: grid_map_rviz_plugin_example
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_gridmap/image_to_grid_map_demo_result.png" alt="Overview" width="60%" height="60%">
           <br>GridMap: image_to_grid_map_demo_result
        </p>
    </th>
     <th>
      <p align="center">
           <img src="./images/ros2_gridmap/interpolationGaussWorld.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: interpolationGaussWorld
      </p>
    </th>
        <th><p align="center">
           <img src="./images/ros2_gridmap/interpolationSineWorld.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: interpolationSineWorld
        </p>
    </th>
  </tr>
  <tr>
    <th><p align="center">
           <img src="./images/ros2_gridmap/line_iterator_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: line_iterator_preview
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_gridmap/occupancy_grid_preview.jpg" alt="Overview" width="60%" height="60%">
           <br>GridMap: occupancy_grid_preview
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_gridmap/opencv_demo_result.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: opencv_demo_result
        </p>
    </th> 
    <th><p align="center">
           <img src="./images/ros2_gridmap/point_cloud_preview.jpg" alt="Overview" width="60%" height="60%">
           <br>GridMap: point_cloud_preview
        </p>
    </th>
  </tr>
  <tr>
    <th><p align="center">
           <img src="./images/ros2_gridmap/polygon_iterator_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: polygon_iterator_preview
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_gridmap/spiral_iterator_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: spiral_iterator_preview
        </p>
    </th>
    <th><p align="center">
           <img src="./images/ros2_gridmap/submap_iterator_preview.gif" alt="Overview" width="60%" height="60%">
           <br>GridMap: submap_iterator_preview
        </p>
    </th> 
    <th><p align="center">
           <img src="./images/ros2_gridmap/vectors_preview.jpg" alt="Overview" width="60%" height="60%">
           <br>GridMap: vectors_preview
        </p>
    </th>
  </tr>
</table>

* Gridmap: Iterators
* Gridmap: interpolation
* Gridmap: OpenCV
* Gridmap: ROS
* Gridmap: Filter
* Gridmap: RVIZ plugin
* Gridmap:  map_visualization
* Gridmap:  grid_map_costmap_2d

## Part VI 激光SLAM

* slam_toolbox

<img src="./images/ros2_slam/slam_toolbox_sync.png" alt="Overview" width="100%" height="80%">

* cartographer

<img src="./images/ros2_slam/cartographer.png" alt="Overview" width="90%" height="70%">

## Part VII Navigation2导航

* ros2 navigation

  <img src="./images/ros2_navigation/ros2_navigation.gif" alt="Overview" width="80%" height="60%">

* costmap2d 

  <table style="width:100%">
     <tr>
      <th>
        <p align="center">
            <img src="./images/ros2_navigation/costmap2d/nav2_constmap2d.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Framework
        </p>
      </th>
          <th><p align="center">
            <img src="./images/ros2_navigation/costmap2d/initialization.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Initialization
          </p>
      </th>
         <th><p align="center">
             <img src="./images/ros2_navigation/costmap2d/map_coordinate_system.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Map Frame 
          </p>
      </th>
          <th><p align="center">       
              <img src="./images/ros2_navigation/costmap2d/world_coordinate_system.png" alt="Overview" width="60%" height="60%">
              <br>Costmap2D: World Frame 
             </p>
        	</th>
      </tr>
      <tr>
      <th>
        <p align="center">
            <img src="./images/ros2_navigation/costmap2d/static_layer.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Static Layer
        </p>
      </th>
          <th><p align="center">
            <img src="./images/ros2_navigation/costmap2d/obstacle_layer_workflow.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Obstacle Layer
          </p>
      </th>
         <th><p align="center">
             <img src="./images/ros2_navigation/costmap2d/inflated_layers.png" alt="Overview" width="60%" height="60%">
             <br>Costmap2D: Inflated Layer
          </p>
      </th>
          <th><p align="center">       
              <img src="./images/ros2_navigation/costmap2d/costmap_2d_markers.png" alt="Overview" width="60%" height="60%">
              <br>Costmap2D: Visualization Tool
             </p>
        	</th>
      </tr>
  </table>

* path planning

  |      Dijkstra Path Planning      | Dijkstra 最短路径算法TODO | <img src="./images/ros2_gridmap/polygon_iterator_preview.gif" alt="Overview" width="20%" height="20%"> |
  | :------------------------------: | :-----------------------: | :----------------------------------------------------------: |
  |       **A* Path Planning**       |   **A*搜尋演算法TODO**    |                                                              |
  |   **Hybrid A*  Path Planning**   | **混合A*搜尋演算法TODO**  |                                                              |
  |     **Theta* Path Planning**     |         **TODO**          |                                                              |
  |     **dubins_path_planner**      |         **TODO**          |                                                              |
  |  **informed_rrt_star_planner**   |         **TODO**          |                                                              |
  |   **potential_field_planner**    |         **TODO**          |                                                              |
  |         **rrt_planner**          |         **TODO**          |                                                              |
  |   **voronoi_road_map_planner**   |         **TODO**          |                                                              |
  | **breadth_first_search_planner** |         **TODO**          |                                                              |
  |  **depth_first_search_planner**  |         **TODO**          |                                                              |

* path tracking

  <table style="width:100%">
     <tr>
      <th>
        <p align="center">
            <img src="./images/ros2_navigation/controller/DWBLocalPlanner.gif" alt="Overview" width="60%" height="60%">
             <br>DWA Controller
        </p>
      </th>
          <th><p align="center">
            <img src="./images/ros2_navigation/controller/RegulatedPurePursuitController.gif" alt="Overview" width="60%" height="60%">
             <br>Pure pursuit Controller
          </p>
      </th>
         <th><p align="center">
             <img src="./images/ros2_navigation/controller/RotationShimController.gif" alt="Overview" width="80%" height="60%">
             <br>Rotation shim controller
          </p>
      </th>
          <th><p align="center">       
              <img src="./images/ros2_navigation/controller/TEBController.gif" alt="Overview" width="80%" height="60%">
              <br>TEB Controller
             </p>
        	</th>
      </tr>
  </table>

## Part VIII  Quadruped Robot

<table style="width:100%">
   <tr>
    <th>
      <p align="center">
          <img src="./images/ros2_quad/TerrainMap.png" alt="Overview" width="100%" height="60%">
           <br>TerrainMap
      </p>
    </th>
        <th><p align="center">
          <img src="./images/ros2_quad/rrt-connect1.gif" alt="Overview" width="80%" height="60%">
           <br>RRT Connect
        </p>
    </th>
       <th><p align="center">
           <img src="./images/ros2_quad/" alt="Overview" width="80%" height="60%">
           <br>Gazebo simulation
        </p>
    </th>
        <th><p align="center">       
            <img src="./images/ros2_quad/.gif" alt="Overview" width="80%" height="60%">
            <br>NMPC
           </p>
      	</th>
    </tr>
</table>

* TerrainMap
* RRT Connect (Global path planner)

- [ ] Gazebo simulation
- [ ] NMPC 
- [ ] Footsetp Planner

## QQ社区交流

![AibotBeginner- Navigtion-Talk](AibotBeginner-Navigtion-Talk.png)

* 躬身入局挺膺负责，方有成事之可冀