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turtlebot_exploration_3d package from turtlebot_exploration_3d repoturtlebot_exploration_3d |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/RobustFieldAutonomyLab/turtlebot_exploration_3d.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2016-12-21 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Autonomous Exploration package for a Turtulebot equiped with RGBD Sensor(Kinect, Xtion)
Additional Links
Maintainers
- Bona
- Shawn
Authors
- Bona
- Shawn
Turtlebot Autonomous Exploration (3D)
Overview
This is an ROS implementation of infomation-theoretic exploration using turtlebot with a RGBD camera (e.g. Kinect). It is designed for autonomous mapping of indoor office-like environments (flat terrain). All the computation is performed on the turtlebot laptop and intermediate results can be viewed from remote PC. The output consist of both 2D and 3D Octomap (.ot) file and saved on the turtlebot laptop. Link to wiki page (where you can find a video example.).
If you find this package useful, please consider citing the follow paper:
- S. Bai, J. Wang, F. Chen, and B. Englot, “Information-Theoretic Exploration with Bayesian Optimization,” IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), October 2016. PDF
How do I get set up?
Download from source:
my_catkin_workspace/src$ git clone
my_catkin_workspace/src$ cd ..
my_catkin_workspace$ catkin_make
Configure Network:
Please follow the turtlebot network configuration to setup.
Running:
From Turtlebot:
$ roslaunch turtlebot_exploration_3d minimal_explo.launch
$ roslaunch turtlebot_exploration_3d turtlebot_gmapping.launch
$ rosrun turtlebot_exploration_3d turtlebot_exploration_3d
- note: The octomap will be saved to the place where you do the “rosrun”.
From Remote Server:
$ roslaunch turtlebot_exploration_3d exploration_rviz.launch
Authors
Shi Bai, Xiangyu Xu. RFAL (Robust Field Autonomy Lab), Stevens Institute of Technology.
CHANGELOG
Changelog for package turtlebot_exploration_3d
0.0.5 (2016-12-21)
- adding visualization_msgs to package for bloom build
- Contributors: baishi.bona@gmail.com
0.0.4 (2016-12-20)
- remove laser_geometry from dep
- Contributors: baishi.bona@gmail.com
0.0.3 (2016-12-20)
0.0.2 (2016-12-20)
- prepare release
- prepare for release-packagexml
- prepare for release
- update resolution to 0.1, as well as 15 evaluations per step
- typo in pdf
- update bayesian approach
- fix typo \@OctomapOccupied_cubelist_3d
- update ROS code style..
- update tutorial
- update tutorial
- update readme.md
- update license
- update tutorial typo
- candidate check
- udpate changelog
- first commit, ver 0.0.1
- Contributors: Bona, Shawn
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| visualization_msgs | |
| octomap_msgs | |
| octomap_ros | |
| pcl_ros | |
| move_base_msgs | |
| actionlib | |
| catkin | |
| turtlebot_navigation |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/exploration_rviz.launch
- launch/minimal_explo.launch
-
- base [default: $(env TURTLEBOT_BASE)]
- battery [default: $(env TURTLEBOT_BATTERY)]
- stacks [default: $(env TURTLEBOT_STACKS)]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- simulation [default: $(env TURTLEBOT_SIMULATION)]
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)]
- robot_name [default: $(env TURTLEBOT_NAME)]
- robot_type [default: $(env TURTLEBOT_TYPE)]
- auto_rapp_installation [default: false]
- auto_start_rapp [default: ]
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)]
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)]
- robot_icon [default: turtlebot_bringup/turtlebot2.png]
- screen [default: true]
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true]
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml]
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]]
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']]
- interactions [default: true]
- interactions_list [default: $(optenv INTERACTIONS_LIST [turtlebot_bringup/admin.interactions, turtlebot_bringup/documentation.interactions, turtlebot_bringup/pairing.interactions])]
- zeroconf [default: true]
- zeroconf_name [default: $(arg robot_name)]
- zeroconf_port [default: 11311]
- launch/turtlebot_gmapping.launch
-
- scan_topic [default: scan_kinect]
- base_frame [default: base_footprint]
- odom_frame [default: odom]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged turtlebot_exploration_3d at Robotics Stack Exchange
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