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added roscon talk to readme
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amock committed Nov 30, 2023
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11 changes: 8 additions & 3 deletions README.md
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Expand Up @@ -85,7 +85,7 @@ The package structure is as follows:
- MeshController - `mbf_mesh_core/mesh_controller.h`
- MeshRecovery - `mbf_mesh_core/mesh_recovery.h`

- `mbf_mesh_nav` contains the mesh navigation server which build on top of the abstract MBF navigation server.
- `mbf_mesh_nav` contains the mesh navigation server which is built on top of the abstract MBF navigation server.
It uses the plugin interfaces in `mbf_mesh_core` to load and initialize plugins of the types described above.

- `mesh_map` contains an implementation of a mesh map representation building on top of the mesh data structures
Expand All @@ -105,7 +105,7 @@ The package structure is as follows:

- `dijkstra_mesh_planner` contains a mesh planner plugin providing a path planning method based on Dijkstra's algorithm.
It plans by using the edges of the mesh map. The propagation start a the goal pose, thus a path from every accessed
vertex to the goal pose can be computed. This leads in a sub-optimal potential field, which highly depends on the mesh
vertex to the goal pose can be computed. This leads to a sub-optimal potential field, which highly depends on the mesh
structure.

- `cvp_mesh_planner` contains a Fast Marching Method (FMM) wave front path planner to take the 2D-manifold into account.
Expand All @@ -124,7 +124,7 @@ Use the `MeshGoal` tool to select a goal pose on the shown mesh in RViz.
### Mesh Layers

The following table gives an overview of all currently implemented layer plugins available in the stack and the
corresponding types tp specify for usage in the mesh map configuration. An example mesh map configuration is shown
corresponding types to specify for usage in the mesh map configuration. An example mesh map configuration is shown
below.

#### Overview of all layers
Expand Down Expand Up @@ -196,6 +196,11 @@ It will be renamed soon to vector_field_planner.
| ------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- |
| ![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") |

## Mesh Localization

For the necessary localization of the robot relative to the mesh, we recommend using RMCL: [https://github.com/uos/rmcl](https://github.com/uos/rmcl). We presented the combination of both software packages at [ROSCon 2023](https://vimeo.com/879000775):

<a href="https://vimeo.com/879000775" target="_blank" ><img src="docs/images/roscon2023_talk.png" alt="MeshNav ROSCon 2023 Video" width="300px"/></a>

## Build Status

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Binary file added docs/images/roscon2023_talk.png
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