# coverage_path_planning

**Repository Path**: light_raining/coverage_path_planning

## Basic Information

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

## Statistics

- **Stars**: 0
- **Forks**: 4
- **Created**: 2023-01-30
- **Last Updated**: 2023-01-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 安装
这个项目使用 [Ubuntu18.04](http://mirrors.aliyun.com/ubuntu-releases/18.04/),[ROS](https://www.ros.org/)。请确保你本地安装了它们。
```sh
mkdir -p ~/catkin_ws/src/ && cd ~/catkin_ws/src/
git clone https://gitee.com/RICS-Group/covergae_path_planning/tree/master.git
sudo apt install ros-melodic-costmap-2d*
sudo apt install ros-melodic-navigation
cd ~/catkin_ws && catkin_make
```

## 使用说明

你可以在Rviz中点击起始点，生成离线轨迹。

```sh
cd catkin_ws/
source devel/setup.bash
roslaunch clean_robot test.launch
```
# 本仓库包含以下内容
- 用于离线覆盖路径规划[离线覆盖路径规划](https://gitee.com/RICS-Group/covergae_path_planning/tree/master/robot)。
- 用于生成仿真机器人和虚假tf树[局部](https://gitee.com/RICS-Group/covergae_path_planning/tree/master/mobile_robot_simulator)。
- 用于路径优化的贝塞尔曲线[优化](https://gitee.com/RICS-Group/covergae_path_planning/tree/master/bezier_curve_path)

## 编译

**要求**: 安装有ros-desktop-full的ubuntu 18.04系统。 

**步骤 1**. 创建文件夹
```
mkdir -p ~/catkin_ws/src/ && cd ~/catkin_ws/src/
``` 

**步骤 2**. 从 gitee 克隆代码。
```
git clone https://gitee.com/RICS-Group/covergae_path_planning/tree/master.git
sudo apt install ros-melodic-costmap-2d*
sudo apt install ros-melodic-navigation
```
**步骤 3**. 编译
```
cd ~/catkin_ws && catkin_make
```

**步骤 4**. 运行.

在rviz进行可视化和交互
```
source devel/setup.bash
roslaunch clean_robot test.launch
```
## 示例
![sque](robot/img/sque.png)
![six](robot/img/six.png)