Mecanum Wheel-Driven AGV 麥克納姆輪自動導引車

1. AGV_ws

1. Mission Navigation
2. Motion Control
3. SICK LiDAR SLAM
4. Cabinet Center Locate.

2. Two_Hokuyo_ws

• Merge two scan topic (ira_laser_merger)

3. Obs_Detector_ws

1. LiDAR obstacle detection (Wall, Fence)
2. Cabinet centerPoint Publish.

4. Dispatch_ws

1. Receive navigation missions from Dispatch Server
2. Send updated AGV status to Dispatch Server.

5. Mecanum_Kinematic_220502

1. Receive speed command from ROS.
2. Calculate mecanum wheel kinematics.
3. Motor speed and direction control.

6. missionGUI

• GUI for editing mission points.

7. Auto_System.py

• Automatically type commands in terminal.

8. udp_send_auto.py

• Locally send navigation mission to AGV.

9. AGV Data Format.xlsx

• Protocols for AGV status update, mission command, battery serial connection.