Clober!

Clober is a next-generation robot research platform from Clobot that is specifically targeting research systems that require multi-robot hardware possible to attach and detach accessories. Here we provide basic robot packages as opensource resources for you to utilize over your course of research. The goal of Clober is to reduce production costs while increasing functionality and quality in order to introduce a platform to control multiple robots into research centers

For researchers, robotics developers, students, and other users, the code for all feature of clober is provided opensource. Use clover and this code to bring your algorithms into the real world and apply robots to your applications, and also contribute to ROS community.

Feature of clober

Simulation

We provide gazebo-based simulation for rapid prototyping of robotic algorithm development and users who find it difficult to drive robots in real environments.

Real	Simlation

SLAM and Navigation

Basic SLAM and Navigation algorithms are implemented using ROS-based acml and move-base packages.

Multiple Clober

For multi-robot applications, we adapt open-source fleet management system RMF(Robotics Middleware Framework) to clober. So, you can deal with schedule and traffic control, task management of multi clober or other robots.

Please see our other repository clober_free_fleet.

ROS Packages for Clober

|ROS1|Noetic + Ubuntu Focal|ROS2|Foxy + Ubuntu Focal|Galactic| |:—:|:—:|:—:|:—:|:—:| |Branch|neotic-branch|Branch|foxy-devel| TBD | |Travis-CI||Travis-CI|| TBD | | | |Linter|| TBD |

Clobot gitbook for Clober Manual

• Manual for Clober

Wiki for Clober Packages

|Package|Description|Wiki |:—:|:—:|:—:| |clober| Meta package | http://wiki.ros.org/clober |clober_bringup| launch files to bring up the sensor drivers and hardware interface for real clober | http://wiki.ros.org/clober_bringup |clober_description| URDF description of clober | http://wiki.ros.org/clober_description |clober_navigation| navigation based on move_base package | http://wiki.ros.org/clober_navigation |clober_serial| hardware interface package using serial communication | - |clober_simulation| simulation specific launch and configuration files for clober | http://wiki.ros.org/clober_simulation |clober_slam| configuration and launch file for SLAM which create a map of the environment and localize clober’s position on the map. | http://wiki.ros.org/clober_slam |clober_teleop| configuration and launch file for teleoperation | http://wiki.ros.org/clober_teleop

Clobot developed Opensource packages

• FreeFleet
• Scheduler
• Multi Map Traffic Editor

Pages Relevant to Clober

• Clobot Homepage
• Clobot YouTube

Contributing to clobot

Thanks for your attention to clobot’s robot and open-source packages.

For more details about clober and RMF(Robotics Middleware Framework), read this documentation.

• Clober Manual

If you want to suggest an idea or make a better code for the robot, just sending your pull requests. But, please comply following rules.

License

By contributing, you agree that your contribution will be licensed under its Apache License.

Apach 2 License

https://www.apache.org/licenses/LICENSE-2.0

Coding Style

We adapt coding convention recommended from ROS1/ROS2, as follow as

• http://wiki.ros.org/StyleGuide
• https://docs.ros.org/en/foxy/Contributing/Code-Style-Language-Versions.html

If you want to contribute repositories forked from open-rmf repositories, please follow open-rmf coding convention. See this link

• https://openrmf.readthedocs.io/en/latest/contributing/index.html#c

Commit/PR Message

Message template

type: title

 - write body 1
 - write body 2

close/fix/resolve #number_of_issue
related to #number_of_issue

You can configure the message template as following command git config --global commit.template /PATH/YOUR/.gitmessage

Rule

• first of all, put ‘type’ of the commit message

• And remember
  • Capitalize the subject line
  • Use the imperative mood in the subject line
  • Do not end the subject line with a period
  • Separate subject from body with a blank line
  • Use the body to explain what and why vs. how
  • Can use multiple lines with “-“ for bullet points in body

Contact

Please contact on email : ros@clobot.co.kr