https://github.com/jazzpi/tarbex

https://github.com/jazzpi/tarbex

Last synced: 24 days ago
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• Host: GitHub
• URL: https://github.com/jazzpi/tarbex
• Owner: jazzpi
• Created: 2019-08-06T12:46:21.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2019-09-19T10:39:40.000Z (over 5 years ago)
• Last Synced: 2024-11-03T12:28:11.551Z (2 months ago)
• Language: C++
• Size: 60.4 MB
• Stars: 0
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.org

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README

        
#+TITLE: Targeted Building Exploration Through Openings

#+OPTIONS: toc:nil

#+TOC: headlines 3

* Architecture

** tb_simulation

This package contains the simulation environment. It contains some utility nodes

as well as the =sim.launch= file.

*** Nodes

**** map_link_broadcaster

This node broadcasts a transform from the =/map= to =base_link=, based off the

Pose topic =/pose=

**** start_morse

Starts MORSE with an environment. No more, no less.

** octomap_server

See [[http://wiki.ros.org/octomap_server][the ROS Wiki]] for details. We only use the =octomap_server_node= node.

* Simulation

The simulation runs in MORSE. The UAV has four sensors:

- Video camera (=/indoor/cam_video=)

- Depth camera (=/indoor/cam_depth=)

- Point cloud (=/indoor/point_cloud=)

- Pose for ground truth (=/indoor/pose=)

The point cloud is integrated into an OctoMap by [[octomap_server]]. It publishes

the resulting OctoMap to =/octomap_binary= and =/octomap_full=.

It also publishes a 2D projected map to =/projected_map=, which ignores all

voxels with y values outside of [0.8, 1.7]. These values where chosen so that 2D

algorithms can be used for navigation at y = 1.3, where all the openings are

located.

To start it, run

#+BEGIN_SRC sh

roslaunch (adstar.launch|fbe.launch|nbvp.launch)

# Or, with rosmon installed

mon launch (adstar.launch|fbe.launch|nbvp.launch)

#+END_SRC