Youbot Navigation

결과영상:

https://drive.google.com/file/d/1j_pow2E7rwtA0BgGOqT915b8i4mBVr4S/view?usp=drive_link

사용 센서

2D LiDAR : Hokuyo UTM-30LX-EW RGB-D camera : RealSense D435i

실행순서

twist mux 실행(조이스틱 명령 우선순위 출력)

roslaunch twist_mux twist_mux.launch
roscd youbot_teleop/scripts/
./joy_2_cmd_vel.py

navigation stack 실행

roslaunch navstack_pub nav_pub_yolo.launch

YOLOv8 실행(인식만)

roslaunch yolov8_ros yolov8_3d.launch

동적 장애물 인식후 정지 실행

rosrun yolov8_ros stop_nav.py

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2D clustering

roslaunch obstacle_detector demo2.launch

U-V depth detetcion

roslaunch onboard_detector run_detector.launch