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https://github.com/ethz-asl/polygon_coverage_planning
Coverage planning in general polygons with holes.
https://github.com/ethz-asl/polygon_coverage_planning
boustrophedon cleaning coverage drone mapping mav navigation obstacles path photogrammetry planning polygon robotics ros uav zag zig
Last synced: 4 days ago
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Coverage planning in general polygons with holes.
- Host: GitHub
- URL: https://github.com/ethz-asl/polygon_coverage_planning
- Owner: ethz-asl
- License: gpl-3.0
- Created: 2019-04-10T15:35:33.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2023-11-13T10:00:43.000Z (about 1 year ago)
- Last Synced: 2025-01-10T18:15:20.753Z (11 days ago)
- Topics: boustrophedon, cleaning, coverage, drone, mapping, mav, navigation, obstacles, path, photogrammetry, planning, polygon, robotics, ros, uav, zag, zig
- Language: C++
- Homepage:
- Size: 1.12 MB
- Stars: 551
- Watchers: 30
- Forks: 160
- Open Issues: 14
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# polygon_coverage_planning
This package contains implementations to compute coverage patterns and shortest paths in general polygon with holes.
Please cite our [accompanying publication](https://arxiv.org/pdf/1907.09224) when using it.
```
Bähnemann, Rik, et al.
"Revisiting boustrophedon coverage path planning as a generalized traveling salesman problem."
Field and Service Robotics. Springer, Singapore, 2021.
```
[Watch the application video](https://youtu.be/u1UOqdJoK9s):
[](https://youtu.be/u1UOqdJoK9s)
## Installation on Ubuntu 20.04 and ROS noetic
Install [ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
Install [mono](https://www.mono-project.com/download/stable/#download-lin-ubuntu).
Create a workspace and download the package.
```
cd ~
mkdir -p catkin_ws/src
cd catkin_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --extend /opt/ros/noetic
cd src
git clone [email protected]:ethz-asl/polygon_coverage_planning.git
```
Install all [remaining dependencies](install/prepare-jenkins-slave.sh):
```
cd polygon_coverage_planning/install
./prepare-jenkins-slave.sh
```
Finally, build the workspace.
```
catkin build
```
## Getting Started
The package has a ROS interface for shortest path planning and coverage planning.
First source your workspace to execute any of the nodes.
```
source ~/catkin_ws/devel/setup.bash
```
### Coverage Planning
```
roslaunch polygon_coverage_ros coverage_planner.launch
```
The polygon can be set via
- ROS [service](polygon_coverage_msgs/srv/PolygonService.srv) call `rosservice call /coverage_planner/set_polygon`
- ROS [parameter](polygon_coverage_ros/launch/coverage_planner.launch) `/coverage_planner/polygon` or
- RVIZ Polygon Tool as in the video above.
The plan is generated via
- ROS [service](polygon_coverage_msgs/srv/PlannerService.srv) call `rosservice call /coverage_planner/plan_path` or
- clicking start and goal points using the RVIZ clicked_point tool as in the video above.
The resulting waypointlist is published as [geometry_msgs/PoseArray](http://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/PoseArray.html) on topic `/waypoint_list`.
To publish the waypoint list
- call `rosservice call /coverage_planner/publish_path_points` or
- set `publish_plan_on_planning_complete: true` in [coverage.yaml](polygon_coverage_ros/cfg/coverage_planner.yaml#L17)
### Euclidean Shortest Path Planning
```
roslaunch polygon_coverage_ros shortest_path_planner.launch
```
Setting the polygon and planning the path is the same as for Coverage Planning.
## Licensing
This repository is subject to GNU General Public License version 3 or later due to its dependencies.
### CGAL dependencies
The underlying (exact) geometric operations rely on [CGAL 5.0.3](https://www.cgal.org/license.html) which is restricted by GNU General Public License version 3 or later.
In particular the dependencies are:
- Algebraic Foundations (LGPL)
- 2D and 3D Linear Geometry Kernel (LPGL)
- 2D Polygon (LPGL)
- Geometric Object Generators (LPGL)
- STL Extensions (LGPL)
- 2D Triangulation (GPL)
- 2D Regularized Boolean Set-Operations (GPL)
- 2D Straight Skeleton and Polygon Offsetting (GPL)
- 2D Arrangement (GPL), see also
```Fogel, Efi, Dan Halperin, and Ron Wein. CGAL arrangements and their applications: A step-by-step guide. Vol. 7. Springer Science & Business Media, 2012.```
```Bungiu, Francisc, et al. "Efficient computation of visibility polygons." arXiv preprint arXiv:1403.3905 (2014).```
### GTSP solver
The underlying optimization uses the [memetic solver](http://www.cs.nott.ac.uk/~pszdk/?page=publications&key=Gutin2009a) presented in
```
Gutin, Gregory, and Daniel Karapetyan.
"A memetic algorithm for the generalized traveling salesman problem."
Natural Computing 9.1 (2010): 47-60.
```
It is free of charge for non-commercial purposes only.