members & email:
haoyudong donghy2022@shanghaitech.edu.cn
chenhaofan fanchh2022@shanghaitech.edu.cn
- Create or upload files
- Add files using the command line or push an existing Git repository with the following command:
cd existing_repo
git remote add origin http://robotics.shanghaitech.edu.cn/gitlab/robotics2025/projects/campus-autonomy-high-speed-navigation.git
git branch -M main
git push -uf origin main
FLASH(Fine-tuning LiDAR Autonomous System for High-Speed-Navigation)
This project aims to develop a high-speed navigation system for autonomous robots using ROS2 and the Navigation2 framework. By designing a novel local planner optimized for dynamic environments, we seek to enable robots to navigate efficiently at speeds exceeding 2 m/s while avoiding static and dynamic obstacles. Key innovations include adaptive tra- jectory optimization, real-time computational efficiency improvements, and integration with perception modules. The system will be validated through benchmark tests in simulated and real-world scenarios.
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This instruction will show you how to activate the simulation.
Actually, we complete communication between host and chasis by sourcing a completed .sh file.
./start_robot_pub_odom.sh
In package HesaiLidar_ROS_2.0, launch start.py under directory HesaiLidar_ROS_2.0 to start HesaiLidar. But we offer an easier alternative, an integrated launch file nav2.launch.py in demo directory.
Pointcloud data is hard to use for navigation, so we map pointcloud into laserscan through package pointcloud_to_laserscan.
Launch nav2_bringup to navigate using nav2 framework. You can choose which plugin to use in param files .yaml.