{"id":24605481,"url":"https://github.com/donghwijung/munes","last_synced_at":"2025-05-05T16:44:56.524Z","repository":{"id":189565463,"uuid":"541529289","full_name":"donghwijung/MuNES","owner":"donghwijung","description":"MuNES: Multifloor Navigation Including Elevators and Stairs","archived":false,"fork":false,"pushed_at":"2024-07-04T05:40:18.000Z","size":92,"stargazers_count":20,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-30T22:32:07.690Z","etag":null,"topics":["elevators","indoor-navigation","lidar-slam","paper","robotics","slam","tsp-problem"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/donghwijung.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2022-09-26T10:31:06.000Z","updated_at":"2025-01-29T14:31:18.000Z","dependencies_parsed_at":"2024-02-12T13:40:11.917Z","dependency_job_id":null,"html_url":"https://github.com/donghwijung/MuNES","commit_stats":null,"previous_names":["donghwijung/munes"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/donghwijung%2FMuNES","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/donghwijung%2FMuNES/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/donghwijung%2FMuNES/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/donghwijung%2FMuNES/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/donghwijung","download_url":"https://codeload.github.com/donghwijung/MuNES/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252535496,"owners_count":21763965,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["elevators","indoor-navigation","lidar-slam","paper","robotics","slam","tsp-problem"],"created_at":"2025-01-24T16:17:41.066Z","updated_at":"2025-05-05T16:44:56.506Z","avatar_url":"https://github.com/donghwijung.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MuNES: Multifloor Navigation Including Elevators and Stairs\nVideo [[link]](https://youtu.be/9saqN6IrsLM) Paper [[link]](https://arxiv.org/pdf/2402.04535.pdf)\n## Download datasets\n[Data 1](https://drive.google.com/file/d/1JjlpboA4jLQ_zZ9ZlFMIztbMBB06pi_e/view?usp=sharing) (moving between two floors; stairs and an elevator)\n\n## Mapping\n### Prerequisite\n* Our code depends on ROS, Ceres, GTSAM, thus please install those prerequisites before installing MuNES. \n### Execute\n```\nmkdir -p ~/munes_ws/src\ncd ~/munes_ws/src\ngit clone git@github.com:donghwijung/MuNES.git\ncd ../\ncatkin_make\nsource ~/munes_ws/devel/setup.bash\nroslaunch munes run.launch\nrosbag play data_1.bag \n```\n## Trajectory Planning\n### Prerequisite\n* To proceed the trajectory planning, a pcd file containing ground points of the multi-floor map is necessary.\n\n* The ground map can be obtained from the mapping process.\n\n* If you want to skip the mapping process, you can download [pcd file](https://drive.google.com/file/d/18p8bml-YUwIO0mOSxeF5tmFIfyendbED/view?usp=sharing) and move the downloaded file to the directory */pcd* in this repository.\n### Setup\n* We tested MuNES with *python 3.8*.\n```\npip install -r requirements.txt\n```\n### Execute\n#### Planning using the real map (a prior map is necessary)\n```\ncd planning\npython munes.py\n```\n#### Planning using the virtual map (a prior map is not necessary)\n```\ncd planning\npython munes_wo_map.py\n```\n\n## Paper\n```\n@article{jung2024munes,\n  title={MuNES: Multifloor Navigation Including Elevators and Stairs},\n  author={Jung, Donghwi and Kim, Chan and Cho, Jae-Kyung and Kim, Seong-Woo},\n  journal={arXiv preprint arXiv:2402.04535},\n  year={2024}\n}\n```\n\n## Acknowledgement\nThe code in this repository is based on [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM), [SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM), and [PathPlanning](https://github.com/zhm-real/PathPlanning). Thanks to the authors of those codes.\n\n## License\n\nCopyright 2024, Donghwi Jung, Chan Kim, Jae-Kyung Cho, and Seong-Woo Kim, Autonomous Robot Intelligence Lab, Seoul National University.\n\nThis project is free software made available under the MIT License. For details see the LICENSE file.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdonghwijung%2Fmunes","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdonghwijung%2Fmunes","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdonghwijung%2Fmunes/lists"}