turtlebot_exploration_3d package from turtlebot_exploration_3d repo


Package Summary

Tags No category tags.
Version 0.0.5
License BSD
Build type CATKIN

Repository Summary

Checkout URI https://github.com/RobustFieldAutonomyLab/turtlebot_exploration_3d.git
VCS Type git
VCS Version indigo
Last Updated 2016-12-21
CI status Continuous Integration
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


  • Bona
  • Shawn


  • Bona
  • Shawn

Turtlebot Autonomous Exploration (3D)


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.


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


Shi Bai, Xiangyu Xu. RFAL (Robust Field Autonomy Lab), Stevens Institute of Technology.


Changelog for package turtlebot_exploration_3d

0.0.5 (2016-12-21)

0.0.4 (2016-12-20)

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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]


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