Yamabot is a meta-project for my Ph.D. work at the Intelligent Robot Laboratory at the University of Tsukuba. It is a complete visual teach-and-repeat robot navigation stack for ROS, covering the entire sense-deliberate-act loop; modules are written mostly in C++ for performance, with some Python scripts used for prototyping and data analysis. Successful experiments were performed both indoors and outdoors, under varying weather conditions and mildly populated settings.
See this article for an overview of the theory behind the project, and my Ph.D. thesis for an extended discussion.
Type the commands below on a terminal window to clone the Yamabot repository and its subprojects:
$ git clone https://github.com/xperroni/Yamabot.git
$ cd Yamabot
$ ./boostrap.sh
After that, projects can be built using the build.sh script:
$ ./build.sh
The workspace can be built in Release or Debug modes. By default Release mode is used, but Debug mode can be passed as an argument to the build script:
$ ./build.sh Debug
When switching between Release and Debug builds, the script keeps compiled files in folders build/Release and build/Debug to avoid the need for a full recompilation.
To force a full recompilation use the clean.sh script:
$ ./clean.sh
After the project is built, the setup.sh script can be used to set the necessary environment variables:
$ source setup.sh