LLM-Navigation documentation

Navigate the environment using the 3D Scene Graph and LLM.

Links

• Hackster.io Project

• GitHub repository

Introduction

• 1. Introduction
  • 1.1. Introduction
  • 1.2. Features
• 2. Architecture
  • 2.1. Software
  • 2.2. Hardware
• 3. ROS2
  • 3.1. What is ROS?
  • 3.2. Why Use ROS2?
  • 3.3. Core Features of ROS2
  • 3.4. Basic ROS2 CLI Commands
• 4. Quick start

Installation

• 1. Docker
• 2. Devcontainer
• 3. ROS2 Humble

CodeBase

• 1. CodeBase Overview
• 2. Cartographer Workspace
  • 2.1. Building docker image
  • 2.2. Building the workspace
  • 2.3. Simple test
• 3. Gazebo World Workspace
  • 3.1. Target worlds
  • 3.2. Building docker image
  • 3.3. Building the workspace
  • 3.4. Run the gazebo worlds
  • 3.5. Run the gazebo worlds with turtlebot3
• 4. Hydra Workspace
  • 4.1. Building docker image
  • 4.2. Running hydra with default settings
• 5. Kobuki Workspace
  • 5.1. Quick start
  • 5.2. Building docker image
  • 5.3. Building the workspace
  • 5.4. Simple test in Gazebo
  • 5.5. Simple test on real robot
• 6. LLM Query Workspace
• 7. Realsense Workspace
• 8. ROS1 Bridge Workspace
  • 8.1. Run bridge with prebuilt image
• 9. VLP-16 LiDAR Workspace
  • 9.1. Building docker image
  • 9.2. Test in simulation environment
  • 9.3. Test on real robot

Demo

• 1. Demo
  • 1.1. Real World
  • 1.2. Gazebo
  • 1.3. Habitat

If you have any questions, please contact the author by email: yuzhong1214@gmail.com, or create an issue on the GitHub repository.