Differential-Drive-Robot-main.zip
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更新日期:2025-09-22

Differential-Drive-Robot-main.zip

资源文件列表(大概)

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Differential-Drive-Robot-main/
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Differential-Drive-Robot-main/.gitignore
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Differential-Drive-Robot-main/.gitmodules
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Differential-Drive-Robot-main/README.md
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Differential-Drive-Robot-main/coppeliasim_simulation/
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Differential-Drive-Robot-main/coppeliasim_simulation/dynamics.ttt
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Differential-Drive-Robot-main/coppeliasim_simulation/kinematics.ttt
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Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/
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Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/differential_drive.urdf
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Differential-Drive-Robot-main/coppeliasim_simulation/urdf_from_coppelia/differential_drive_Hokuyo_URG_04LX_UG01_body__70__.dae
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Differential-Drive-Robot-main/installation/
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Differential-Drive-Robot-main/installation/conda/
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Differential-Drive-Robot-main/installation/conda/mamba_environment.yml
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Differential-Drive-Robot-main/installation/docker_file/
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Differential-Drive-Robot-main/installation/docker_file/integrated_gpu/
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Differential-Drive-Robot-main/installation/docker_file/integrated_gpu/dockerfile
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Differential-Drive-Robot-main/installation/docker_file/nvidia/
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Differential-Drive-Robot-main/installation/docker_file/nvidia/dockerfile
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Differential-Drive-Robot-main/installation/docker_file/nvidia_cuda/
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Differential-Drive-Robot-main/installation/docker_file/nvidia_cuda/dockerfile
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Differential-Drive-Robot-main/python_scripts/
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Differential-Drive-Robot-main/python_scripts/controllers/
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Differential-Drive-Robot-main/python_scripts/controllers/acados/
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Differential-Drive-Robot-main/python_scripts/controllers/acados/acados/
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Differential-Drive-Robot-main/python_scripts/controllers/acados/acados_model.py
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Differential-Drive-Robot-main/python_scripts/controllers/acados/acados_nmpc.py
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Differential-Drive-Robot-main/python_scripts/controllers/acados/test.py
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Differential-Drive-Robot-main/python_scripts/controllers/approximate_linearization.py
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Differential-Drive-Robot-main/python_scripts/controllers/casadi_nmpc.py
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Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/
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Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_cpp.py
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Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_num_diff.py
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Differential-Drive-Robot-main/python_scripts/controllers/crocoddyl/test_model_python.py
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Differential-Drive-Robot-main/python_scripts/controllers/dynamic_linearization.py
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Differential-Drive-Robot-main/python_scripts/controllers/ilqr.py
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Differential-Drive-Robot-main/python_scripts/controllers/io_linearization.py
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Differential-Drive-Robot-main/python_scripts/controllers/io_linearization_mpc.py
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Differential-Drive-Robot-main/python_scripts/controllers/nonlinear_lyapunov.py
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Differential-Drive-Robot-main/python_scripts/controllers/predictive_sampling.py
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Differential-Drive-Robot-main/python_scripts/maps/
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Differential-Drive-Robot-main/python_scripts/maps/map.pgm
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Differential-Drive-Robot-main/python_scripts/path_utilities.py
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Differential-Drive-Robot-main/python_scripts/planners/
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Differential-Drive-Robot-main/python_scripts/planners/grid_based/
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Differential-Drive-Robot-main/python_scripts/planners/grid_based/a_star.py
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Differential-Drive-Robot-main/python_scripts/planners/grid_based/breadth_first_search.py
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Differential-Drive-Robot-main/python_scripts/planners/grid_based/djikstra.py
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Differential-Drive-Robot-main/python_scripts/planners/grid_based/greedy_best_first_search.py
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Differential-Drive-Robot-main/python_scripts/planners/sampling_based/
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Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt.py
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Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt_primitives.py
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Differential-Drive-Robot-main/python_scripts/planners/sampling_based/rrt_star.py
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Differential-Drive-Robot-main/python_scripts/robot_model.py
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Differential-Drive-Robot-main/python_scripts/test/
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Differential-Drive-Robot-main/python_scripts/test/test_controllers.py
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Differential-Drive-Robot-main/python_scripts/test/test_planning_time.py
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Differential-Drive-Robot-main/python_scripts/test/test_single_planner.py
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Differential-Drive-Robot-main/ros2_ws/
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Differential-Drive-Robot-main/ros2_ws/src/
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Differential-Drive-Robot-main/ros2_ws/src/controllers/
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Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/
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Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/__init__.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/base_controller.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/controllers/run_controllers.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/package.xml
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Differential-Drive-Robot-main/ros2_ws/src/controllers/resource/
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Differential-Drive-Robot-main/ros2_ws/src/controllers/resource/controllers
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Differential-Drive-Robot-main/ros2_ws/src/controllers/setup.cfg
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Differential-Drive-Robot-main/ros2_ws/src/controllers/setup.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/test/
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Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_copyright.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_flake8.py
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Differential-Drive-Robot-main/ros2_ws/src/controllers/test/test_pep257.py
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/CMakeLists.txt
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/COLCON_IGNORE
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/Findpigpio.cmake
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/rotary_encoder.cpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/include/rotary_encoder.hpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/package.xml
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/motor.cpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/src/test.cpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/CMakeLists.txt
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/Findpigpio.cmake
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/CMakeCache.txt
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/CMakeFiles/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/build/CMakeFiles/3.10.2/
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/rotary_encoder.cpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/rotary_encoder.hpp
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Differential-Drive-Robot-main/ros2_ws/src/driver_motor/test/dc_motor_l298N/test.cpp
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Differential-Drive-Robot-main/ros2_ws/src/external/
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Differential-Drive-Robot-main/ros2_ws/src/external/kiss-icp/
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Differential-Drive-Robot-main/ros2_ws/src/external/pointcloud_to_laserscan/
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Differential-Drive-Robot-main/ros2_ws/src/external/tf_transformations/
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Differential-Drive-Robot-main/ros2_ws/src/planners/
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Differential-Drive-Robot-main/ros2_ws/src/planners/package.xml
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Differential-Drive-Robot-main/ros2_ws/src/planners/planners/__init__.py
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Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_copyright.py
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Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_flake8.py
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Differential-Drive-Robot-main/ros2_ws/src/planners/test/test_pep257.py
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Differential-Drive-Robot-main/ros2_ws/src/state_estimation/
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Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/test_flake8.py
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Differential-Drive-Robot-main/ros2_ws/src/state_estimation/test/test_pep257.py
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Differential-Drive-Robot-main/ros2_ws/src/utilities/
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Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.pgm
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Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.posegraph
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Differential-Drive-Robot-main/ros2_ws/src/utilities/maps/simple_walls/simple_walls_map.yaml
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Differential-Drive-Robot-main/ros2_ws/src/utilities/plotjuggler_config/
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Differential-Drive-Robot-main/ros2_ws/src/utilities/rviz_config/
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资源内容介绍

Differential-Drive-Robot-main.zip
## OverviewThis repo contains the code for controlling both a real and a simulated differential drive robot via ROS2 using different planners, controllers, and open-source libraries for slam and odometry. ## List of available controllers1. Approximate linearization2. Input-Output linearization3. Input-Output linearization + Linear MPC via Casadi4. Dynamic linearization5. Nonlinear Lyapunov6. Nonlinear MPC via Casadi7. Nonlinear MPC via Acados8. Iterative Linear Quadratic Regulator9. Iterative Linear Quadratic Regulator via Crocoddyl10. Predictive Sampling MPC## List of available planners1. A*2. Breadth First search3. Djikstra4. Greedy Best First search5. RRT6. RRT* (in progress)7. RRT-primitives## Repository structureIt includes the following folders and subfolders:1. ```python_scripts```: most of the ROS2 nodes call some classes here 2. ```coppeliasim_simulation```: scenes used for simulating the robot (dynamically enabled or not)3. ```ros2_ws```: collection of ROS2 nodes for controlling the robot with the aid of some external tools such as ```slam_toolbox``` (generate a map and localization) and ```kiss-icp``` (lidar odometry) ## Dependencies1. [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html)2. [CoppeliaSim](https://www.coppeliarobotics.com/downloads)3. [kiss-icp](https://github.com/PRBonn/kiss-icp)4. [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox)## Build on linux 1. clone the repo```shgit clone --recurse-submodules https://github.com/giulioturrisi/differential_drive.git```2. extract CoppeliaSim in Differential-Drive-Robot/coppeliasim_simulation3. add the following ls in ros2_ws/src/simExtROS2/meta/interfaces.txt ```shgeometry_msgs/msg/Twistgeometry_msgs/msg/TwistStampedsensor_msgs/msg/LaserScan```4. build the docker file inside Differential-Drive-Robot/docker_file/integrated_gpu or /nvidia```shdocker build -t ros2_humble .```5. add alias to start the docker```shcd gedit .bashrcalias ddrive_humble='xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix:rw --device=/dev/input/ -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e QT_X11_NO_MITSHM=1 --gpus all --name ddrive_humble ros2_humble' (if used /nvidia)alias ddrive_humble="xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri --device=/dev/input/ -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY --name ddrive_humble ros2_humble" (if used /integrated_gpu)alias ddrive_humble='xhost + && docker run -it --rm -v /path/to/your_folder/Differential-Drive-Robot:/home/ -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER -e LD_LIBRARY_PATH=/usr/lib/wsl/lib --name ddrive_humble ros2_humble' (if Windows Linux Subsystem)alias ddrive='docker exec -it ddrive_humble bash' (to attach a new terminal to the running docker)```6. start docker and build```shddrive_humblecd ros2_wsrosdep install -y -r -q --from-paths src --ignore-src --rosdistro humbleulimit -s unlimitedcolcon build --symlink-install```## How to run the simulationAll the commands below can be easily launched via some aliases. Check them by activating the docker ```ddrive_humble``` and writing on the keyboard ```launch_``` (plus tab for the autocomplete)Follow the commands below to run all the framework:1. on a new terminal first launch the simulation ```shlaunch_sim_kinematics (scene with kinematics)launch_sim_dynamics (scene with dynamics)```2. on each new terminal, then launch all the other packages ```shlaunch_joy (to use the joystick)launch_rviz (visualization)launch_planners (planning)launch_controllers (control)launch_lidar_odometry (tf and kiss-icp)launch_slam (slam-toolbox)ros2 launch ydlidar_ros2_driver ydlidar_launch.py (ydlidar - only real robot)```3. you can choose a goal pose in Rviz2 clicking 2D Goal Pose ## StatusStill working in progress, the real robot exists but it's not yet finalized!

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人体姿势识别yolo8预训练模型,内附完整Python运行代码,可直接运行,可用于图片或者视频的人体姿势识别

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