CLAAM_PD- Counterbalanced Loader Autonomous Ackerman Motion and Pallet Detection

An integration of : -RX20_16 robot and multi_pallet_detection from https://github.com/cuongng313/auto_forklift_pallet_detection

-ROS navigation: https://github.com/ros-planning/navigation

-ackerman_steering_controller: https://github.com/ros-controls/ros_controllers

-Teb-local-planner: https://github.com/rst-tu-dortmund/teb_local_planner

INSTALL

This integration provides the basis for autonomous forklift navigation and pallet-based goal setting.

add realsense gazebo library to your workspace

git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git

Install dependencies

rosdep install --from-paths src -y

build your workspace with

catkin_make

SOURCE

source /opt/ros/noetic/setup.bash source source devel/setup.bash export GAZEBO_MODEL_PATH=$HOME/CLAAM_PD/src/forklift_simulator/models

LAUNCH

roslaunch simall.launch