https://github.com/ipab-rad/Youbot-RVO
Tip revision: d091755f50f784997ed52ed69545f1ed6efdcb77 authored by GreatAlexander on 27 June 2015, 18:17:57 UTC
Merge branch 'master' of https://github.com/ipab-rad/Youbot-RVO
Merge branch 'master' of https://github.com/ipab-rad/Youbot-RVO
Tip revision: d091755
README.md
# Youbot-RVO
This repository holds the code for enabling YouBots to navigate
autonomously in a space populated by other intelligent independent
agents (i.e. humans/other robots).
Part of the software is based on the
[HRVO](http://gamma.cs.unc.edu/HRVO/) library developed by the
*Geometric Algorithms for Modeling, Motion, and Animation* group at
UNC.
## Documentation
The documentation lives in the repository
[wiki](https://github.com/ipab-rad/Youbot-RVO/wiki).
The main sections of this repository include:
- PTracking library and its bridge publish real-time human
and robot world position/velocity data acquired via Kinect sensors.
- HRVO library and its bridge subscribed to agents position
and velocity estimates, publishing control signals for selected
agents (In the form of preferred velocity).
- PTracking Wrapper subscribes to the output messages of the
PTracking bridge and pre-computes/organises/publishes the data in a
proper format for the HRVO and V-REP modules.
- YouBot Wrapper subscribes to the output message of the HRVO
bridge and transforms/publishes it into the appropriate control
topics for the YouBot robot.
## Requirements
On PC:
* `ros hydro`
* `hrvo`
* `move-base`
On Youbot
* `ros hydro`
* `youbot_driver`
* `youbot_driver_ros_interface`
## Contributors
Contributors are (in alphabetical order):
* Alejandro Bordallo
* Fabio Previtali
* Federico Boniardi
* Nantas Nardelli
* Subramanian Ramamoorthy