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