| Version | Kinetic + Ubuntu Xenial | Melodic + Ubuntu Bionic |
|---|---|---|
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- http://wiki.ros.org/humanoid_navigation (metapackage)
- http://wiki.ros.org/footstep_planner
- http://wiki.ros.org/gridmap_2d
- http://wiki.ros.org/humanoid_localization
- http://wiki.ros.org/humanoid_planner_2d
基于kinetic 版的ros系统，跟随footstep planner wiki，从GitHub下载并安装footstep planner(落脚点规划系统)，使其在给定开始和目标位置时，实现在2d map上规划机器人的落脚点序列。
原footstep planner github: https://github.com/ROBOTIS-GIT/humanoid_navigation.git
本github(https://github.com/xmojiao/humanoid_navigation)使用贝塞尔曲线限制sbpl的搜索空间，损失路径的cost, 但减少了2/3的规划时间。****
为了便于算法调试，我们整合footstep和sbpl，去掉ros，实现在win10_x64+visual studio 2017环境下编译调试优化，具体代码：https://github.com/xmojiao/footstep_sbpl_vs2017_cpp/tree/dev-jiao
- sbbp
- navigation-msgs
- python empy包
在主目录下创建工作空间 catkin_ws,然后初始化 catkin_init_workspace。 执行完catkin_make时，发现工作空间catkin_ws中有三个目录： build devel src 其中，src是我们创建工作空间时创建的目录，另外两个是执行完 catkin_make 后生成的。
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
从github下载SBPL源程序，然后编译安装
SBPL uses git as its version control system. From the directory where you want the SBPL source to reside, clone the latest source from https://github.com/sbpl/sbpl:
git clone https://github.com/sbpl/sbpl.git
In the source directory, build the SBPL library using standard CMake build conventions:
mkdir build
cd build
cmake ..
make
Install the built library and headers onto your local system (usually into /usr/local):
sudo make install
cd src/
git clone git@github.com:ROBOTIS-GIT/humanoid_navigation.git
cd ../
catkin_make
此处编译时也可能需要其他包，需要什么就使用ros-kinetic-安装。
sudo apt-get install ros-kinetic-humanoid-nav-msgs
sudo apt-get install ros-kinetic-map-sever
git clone https://github.com/ros-planning/navigation_msgs.git
../
catkin_make
也可能会提示no modeule em,此时使用以下命令安装
pip install em
catkin_make 编译成功，就可以进行roslaunch
catkin_make
roslaunch footstep_planner footstep_planner_complete.launch
分别使用2D Pose Estimate和2D Nav Goal 给定开始和结束的位置和方向，稍等片刻就可以看到落脚点规划器规划的足迹序列