exploration_ros

A ROS package that implements a robot exploration system. Actually only the single robot part has been developed.

Requirements:

Eigen3

The srrg_core package developed by G. Grisetti provides libraries and utilities.

  $ git clone https://gitlab.com/srrg-software/srrg_boss.git
  $ git clone https://gitlab.com/srrg-software/srrg_cmake_modules.git
  $ git clone https://gitlab.com/srrg-software/srrg_core.git

ROS indigo. or ROS Kinetic.

The ROS Navigation stack

  $ sudo apt-get install ros-YOUR_DISTRO-navigation

Optional Requirements

In order to run the launch files we needs also:

g2o

  $ git clone https://github.com/RainerKuemmerle/g2o.git

Set up the following g2o environment variables in your ~/.bashrc:

  #set up G2O
  export G2O_ROOT=path_to_your_g2o_installation  
  export G2O_BIN=${G2O_ROOT}/bin  
  export G2O_LIB=${G2O_ROOT}/lib  
  export LD_LIBRARY_PATH=${G2O_LIB}:${LD_LIBRARY_PATH}  
  export PATH=${G2O_BIN}:${PATH}

cg_mrslam developed by M.T. Lazaro for implementing SLAM techniques
```
  $ git clone https://github.com/mtlazaro/cg_mrslam.git
```
To run the simulation example it's necessary ROS Stage
```
  $ sudo apt-get install ros-YOUR_DISTRO-stage
```

Installation

The code has been tested on Ubuntu 14.04 and 16.04 (64bits).

Download the source code to your ROS workspace directory
ROS (catkin):
- Installation for ROS is supported
- In your catkin workspace
```
    $ catkin_make -DCMAKE_BUILD_TYPE=Release
```

Instructions

Node

exploration_action_client: This is the action client which send to the action server an Action message in order to make it perform the desired action (exploration).
exploration_node: This is the action server

For the passing parameters give a look to the launch files (e.g. singlerobot_exploration)

Example of use

It is HIGHLY recommended to run the system directly from the present launch file.

$ roslaunch exploration_ros singlerobot_exploration.launch