skohlbr/teach-repeat

Visual teach repeat for ground based mobile robots

Fast and Robust Bio-inspired Teach and Repeat Navigation

Multimedia Material

The multimedia material accompanying the paper can be viewed here.

Reference

If you use code contained in this repository, please cite our paper:

@misc{dallosto2020fast,
      title={Fast and Robust Bio-inspired Teach and Repeat Navigation}, 
      author={Dominic Dall'Osto and Tobias Fischer and Michael Milford},
      year={2020},
      eprint={2010.11326},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

How-to-use

Nodes for running teach on Jackal

• rosnode kill twist_mux (optional, only required for comparison with bearnav)
• roslaunch slam_toolbox localization.launch (optional, only required for quantitative analysis)
• roslaunch stroll_bearnav mapping-core-jackal.launch (optional, only required for comparison with bearnav)
• roslaunch stroll_bearnav mapping-gui-jackal.launch (optional, only required for comparison with bearnav)
• roslaunch teach_repeat data_collection_jackal.launch

Nodes for running repeat on Jackal

• roslaunch slam_toolbox localization.launch (optional, only required for quantitative analysis)
• roslaunch teach_repeat data_matching_jackal.launch

Nodes for running Bearnav repeat on Jackal

• roslaunch slam_toolbox localization.launch
• roslaunch stroll_bearnav navigation-core-jackal.launch
• roslaunch stroll_bearnav navigation-gui-jackal.launch

Nodes for running teach on Miro

• roslaunch teach_repeat data_collection_miro.launch

Nodes for running repeat on Miro

• roslaunch teach_repeat data_matching_miro.launch