subt exploration

Subterranean exploration project in ROS

Dependencies

For simulation

You need to have Nvidia VGA to be able to run simulation
if you run the simulator from docker, you need to install docker:
https://docs.docker.com/engine/install/ubuntu/
Also go through post-installation steps to be able to run docker without sudo:
https://docs.docker.com/engine/install/linux-postinstall/
Install NVIDIA docker:
https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Other dependencies:

Install other dependencies:

rosdep install --from-paths src --ignore-src -r -y

To install simulation:

./build_docker.sh

To run simulation and elevation/traversability mapping with gt localization

Before running, you need to install the package with catkin build
Afterwards, run:

roscore
rosparam set use_sim_time true
roslaunch subt_exploration simulation_with_gt.launch
roslaunch subt_exploration my_elevation.launch
roslaunch subt_exploration rviz.launch

Note that the position is retrieved from the odometry for now. It is needed to install a simulation and run it from docker for everything to work properly.
The parameters such as topics, for elevation map, traversability and planning can be found and adjusted in config/my_mapping/my_mapping.yaml

To run simulation and elevation/traversability mapping with liorf localization

module thesis is needed
Before running, you need to install the package with catkin build
Afterwards, run:

roscore
rosparam set use_sim_time true
roslaunch subt_exploration simulation.launch
roslaunch thesis liorf_subt.launch
roslaunch subt_exploration my_elevation.launch
roslaunch subt_exploration rviz.launch

(doesn't work right now for some reason) Note that the position is retrieved from the odometry for now. It is needed to install a simulation and run it from docker for everything to work properly.
The parameters such as topics, for elevation map, traversability and planning can be found and adjusted in config/my_mapping/my_mapping.yaml

To see how the exploration stack works:

rosservice call /explore_once

if all the frontiers are already planned to in the past, you can clean the memory using:

rosservice call /clean_visited

On /explore_once service, the node will detect the nearest frontier and plan towards it, and publish a plan. The path following should be done by some other node

For path following

For now, just ask Seva for a tracker package, because it's not uploaded anywhere. You can always use your tracker. With Seva's version of the package:

roslaunch rds_path_tracker_base test.launch