aeplanner is an exploration planning package for 3d environments. It subscribes to an OctoMap and will propose waypoints that maximizes the information gain while minimizing the traversed distance. For a more detailed description see our paper.
Use aeplanner? If you are using aeplanner, please cite our paper Efficient Autonomous Exploration Planning of Large-Scale 3-D Environments in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1699-1706, April 2019.
BibTeX:
@ARTICLE{8633925,
author={M. {Selin} and M. {Tiger} and D. {Duberg} and F. {Heintz} and P. {Jensfelt}},
journal={IEEE Robotics and Automation Letters},
title={Efficient Autonomous Exploration Planning of Large-Scale 3-D Environments},
year={2019},
volume={4},
number={2},
pages={1699-1706},
keywords={Planning;Sensors;Uncertainty;Drones;Mobile robots;Path planning;Search and rescue robots;motion and path planning;mapping},
doi={10.1109/LRA.2019.2897343},
ISSN={2377-3766},
month={April},}
This repository has been tested with:
Ubuntu 16.04
ROS Kinetic (Desktop full installation)
catkin tools
catkin simple
OctoMap
it might work with other setups, but no guarantees are given.
- You are running
Ubuntu 16.04 - You are using bash, zsh is also possible with some modifications.
- You have
ros-kinetic-desktop-installed, otherwise follow installation instructions here - You have created a workspace in
~/catkin_ws, without runningcatkin_make. If in another location these things need to be modified. - You have installed
catkin tools
-
You have installed
octomapif not install it by runningsudo apt-get install "ros-kinetic-octomap-*"or install from source. -
Catkin simple is needed to build the rtree package
cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git
- PIGain depends on rtree which in turn needs libspatialindex (note this rtree is different from the one above).
pip install rtree
sudo apt-get install libspatialindex-dev
If you do not already have a workspace, set up a new one.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin build
Clone this package (make sure that you are in catkin_ws/src)
cd ~/catkin_ws/src/
git clone https://github.com/mseln/aeplanner.git
cd ..
catkin build
To run the example directly without having to integrate the interface, the kth uav simulation package can be installed, see:
https://github.com/danielduberg/kth_uav
Read the Assumptions and follow the install instructions on that page.
If you get couldn't find python module jinja2: install jinja2 by running:
sudo apt-get install python-jinja2
If you get No rule to make target '/home/rpl/catkin_ws/src/kth_uav/Firmware/Tools/sitl_gazebo/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'Groundtruth.pb.cc'. Stop., install libprotobuf by running:
sudo apt-get install protobuf-compiler
If you get ImportError: No module named future install it by running:
pip install future
If you get Could not find a package configuration file provided by "geographic_msgs" with any of the following names: install it by running:
sudo apt-get install ros-kinetic-geographic-msgs
If you get Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) fix it by installing:
sudo apt-get install libgeographic-dev
If gazebo is complaining about GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm, install geographiclib-tools and run the install script again.
sudo apt-get install geographiclib-tools
sudo ./kth_uav/mavros/mavros/scripts/install_geographiclib_datasets.sh
When running roslaunch simulation simulation.launch if you get Arg xml is <arg default="$(find mavlink_sitl_gazebo)/worlds/empty.world" name="world"/> fix it by changing line 14 and 15 in kth_uav/Firmware/launch/mavros_posix_sitl.launch to
<arg name="world"/>
<arg name="sdf"/>
do the same with line in file 12 and 13 kth_uav/Firmware/launch/posix_sitl.launch.