We design an auto-forklift based on Visual Slam. The localization and control system run on Jetson TX1 made by Nvidia. The path planning and dispatching system run on terminal---a common pc,communicate with TX1 by wifi. The ensor data processing system run on Arduino, communicate with TX1 by I2C bus.
----DA_Init Initialization shell
----fork
-----location visual location code
-----multi_thread multi thread control
-----motor_control velocity smooth and motion track
-----detect sensor state process
-----forklift program entry
-----utils some little tools
----Terminal
-----Map map building,path plan and interpolation(based on Boost Graph Library)
-----Communication socket send and receive thread
-----Terminal command reception thread and mapping entry
----Terminal_multiFork
-----Map on the basis of Terminal,add dynamic time window
-----Listener listen thread,build Socket object for each connected fork
-----Socket socket send and receive thread
-----Terminal command reception thread and mapping entry