aim_assistant

This package was developed for ER, in the ABU Robocon 2023.

Rules

The game rules are here.

Subscribe

• /livox/mid_70 : PointCloud data from LIVOX MID-70 (sensor_msgs/msg/PointCloud2)
• /livox/mid_360 : PointCloud data from LIVOX MID-360 (sensor_msgs/msg/PointCloud2)
• /velodyne_points : PointCloud data from Velodyne VLP-16 (sensor_msgs/msg/PointCloud2)

Publish

• /ER/aim_assistant_3d/dbg_poles : Pole data recognized and visualized for debug (visualization_msgs/msg/MarkerArray)
• /ER/aim_assistant_3d/target_poles : Pole data, actually used for Robot control. This data are sent to the package of shooting unit, and used for aim. (aim_assistant_msgs/msg/PoleArray)

Usage

By following steps, run this package in demo mode.

make workspace and clone this repository

mkdir -p colcon_ws/src
cd colon_ws/src
git clone https://github.com/nanoshimarobot/aim_assistant.git
git clone https://github.com/nanoshimarobot/aim_assistant_msgs.git

Download rosbag data

LINK

Build package

cd ~/colcon_ws
colcon build --symlink-install

Launch nodes

. install/local_setup.bash
ros2 launch aim_assistant aim_assistant_demo.launch.py