deep_nav_layers

A series of plug-ins to the ROS navigation stack to incorporate deep learning inputs.

This work provides a promising look at the potential to leverage both the power of robotics and deep learning alongside each other. This technique has several real-world applications such as detecting stairs, potholes or other hazards to robots in unstructured environments.

Required Package:

• ROS Kinetic
• NVIDIA-AI-IOT/caffe_ros

Following are the steps:

• On Terminal #1 bash ~/jetson-UGV/tools/sim-mode.bash

• On Terminal #2 roslaunch jackal_navigation chameleon_nav.launch from_bag:=true

• On Terminal #3 rosrun rviz rviz -d ~/jetson-UGV/ros/jackal_viz/navigation.rviz

• On Terminal #1 rosbag play /ssd/lastDay.bag --clock