hikashi/TM-RRT_exploration_Simulation

Temporal Memory-based RRT (TM-RRT) Exploration Simulation (ROS Melodic)

This directory showcases the simulation stage for the TM-RRT Exploration using Gazebo and RVIZ.

Requirements

The following code is executed in ROS Melodic in Ubuntu 18.04 LTS, Python 2.7

The following libraries are required to be installed before proceeding to run the code

$ sudo apt-get install ros-melodic-gmapping
$ sudo apt-get install ros-melodic-navigation
$ sudo apt-get install python-opencv
$ sudo apt-get install python-numpy
$ sudo apt-get install python-scikits-learn
$ sudo apt-get install ros-melodic-teb-local-planner
$ sudo apt-get install ros-melodic-multirobot-map-merge

Installation Process

Create a new folder called "catkin_explore/src" by executing the following comment:

$ sudo mkdir -p ~/catkin_explore/src
$ cd ~/catkin_explore/src/
$ git clone -b main-Melodic https://github.com/hikashi/TM-RRT_exploration_Simulation.git
$ cd ~/catkin_explore
$ catkin_make

Instruction for Running Simulation

In console one (for running small map):

 $ roslaunch ros_3d_multitb3 multiple_tb3_house4.launch

In console one (for running big map):

 $ roslaunch ros_3d_multitb3 multiple_tb3_house5.launch

In console two:

 $ roslaunch tmrrt_exploration trio_exploration.launch

Setting up Simulation for testing

An example of the simulation can be shown in the following video: