CABIN Nav

Context Aware Behavior-based INdoor NAVigation

The robot uses different behaviors based on its current context to achieve a task. The context consists of sensor data and semantic map.

This is a down-sized version of my Master's thesis project. Full version could

• transport a cart (youtube)
• sweep an area (youtube)

However, only goto action was allowed to be open-sourced.

Dependency

• geometry_common
• yaml_common
• For simulation ropod_sim(optional)

On Ubuntu 20.04 with ROS Noetic, install the package python-is-python3 using the below command to avoid runtime errors when launching python-based ROS nodes

sudo apt install python-is-python3

Usage

Simulation

• Launch simulation

roslaunch cabin_nav sim.launch

• Launch CABIN Navigation

roslaunch cabin_nav cabin_navigator.launch

• Then publish a 2D nav goal in RViz.
• Optionally, one can also publish a task request message

  • For goto action

    rostopic pub /cabin_navigator/task_request std_msgs/String "data: '{task_type: goto, goal: {x: 62.7, y: 31.7, theta: 3.14}}'" -1

Test

catkin build --this --catkin-make-args run_tests -- && rosrun cabin_nav cabin_nav_test