Description & Instructions

This package implements the box pushing scenario for the triton robot. This was written from scratch (no starter code). The demo video can be viewed at: https://youtu.be/qCwxBEC8WS4

Note that this requires the triton's docker image and the hector-mapping package. Make sure to also set the paramter "align_depth" to "true" when launching the realsense package in the docker image.

Side note: The deep learning object detection experiment code, models, and images are in the "DL_obj_det" folder inside the "src" folder.

Usage

Extract P4D3.zip in your catkin_ws/src directory:

cd ~/catkin_ws/src
unzip P4D3.zip

To compile:

cd ~/catkin_ws
catkin build
source devel/setup.bash

Launch the simulation:

roslaunch triton_box_push triton_box_push_slam.launch