The simulation of sentry in RoboMaster 2023/2024 season based on gazebo, autonomous_exploration_development_environment, far_planner
https://github.com/66Lau/sentry_sim/assets/95697190/59206443-fcca-4397-8dfb-3bf6a5fa4ec9
Some files in autonomous_exploration_development_environment
, far_planner
package are modified, therefore, I recommend that using noetic
as your ROS version and cloning from my repo directly. Because I added collison attribute for the robot and used different controller, which is different from the original version of the autonomous_exploration_development_environment.
sudo apt-get install xterm
sudo apt install libusb-dev
cd ~
mkdir ws_sentry_sim
cd ws_sentry_sim
mkdir src
cd src
git clone git@github.com:66Lau/sentry_sim.git
cd ..
catkin_make
cd ws_sentry_sim
source devel/setup.bash
roslaunch sentry_gazebo startup_rmuc.launch
Appreciate!
When lidar are not able to scan the ground below the cliff, the system would grant cliff passable. It could be solved by set "noDataObstacle" to true.