Used to initialise the navigation node. This accepts the arguments 'map' (map name) and 'save_costmaps_state'. An example would be:
> roslaunch navigation.launch map:=long_room_sim_map save_costmaps_state:=True
The argument 'save_costmaps_state' determines if global/local costmaps should be saved. The default parameter is FALSE, meaning that they are cleared after every navigation, ensuring a clear map is considered for the next planned path. NOTE: Additional parameter config is avaiable within the file. Comments are provided for assistance.
Used to initialise a Gazebo simulation world with a specified map. The map can be specified by using the 'world' argument. For example:
> roslaunch launch/simulated_world.launch world:=long_room_sim_map
This contains all maps that will be used by the user. The map should consist of a .png and .yaml file.
This contains the relevant Gazebo simulation world files and custom models.
Contains all relevant python scrips:
|run||Main integration file. This is used for full program execution.|
|get_face_data||Used to acquire face data|
|train_faces||Used to train the LBPH algorithm with acquired face data.|
|face_detect_and_recognise||Independent face recognition file|
|face_detect_and_recognise_ros||ROS node for face recognition|
|user_input_move_to_point_ros||ROS node for user navigation|
/faces and /face_videos
The faces folder is key in order for the LBPH algorithm to be trained. The folder structure should be as so:
This file is used to add, remove or update new locations for the TurtleBot to navigate to. The following are required.
- MAP_NAME - name of the map the location belongs to
- LOCATION - name of location
(Details on how to acquire X and Y coordinates are provided in Using the application)