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TaskPlanner #4

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@andy-zhuo-02 andy-zhuo-02 commented Nov 23, 2024 •
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主要的改动在于:

  1. 增添了mbot_main功能包，其中的scripts/main_exploration.py是新的主函数，其中增添了TaskPlanner的功能模块
  2. mbot_explore功能包增添了scripts/random_exploration.py，用于随机产生探索点（终端中输入空格可以刷新新的点），作为上述代码在Exploaration功能下的桩模块

目前全流程框架为:

  1. 开启仿真器
    roslaunch limo_gazebo_sim limo_four_diff.launch
  2. 开启定位、建图、运动规划、识别等主要功能
    roslaunch mbot_main main.launch
  3. 开启Exploration功能模块
    rosrun mbot_explore random_exploration.py

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