https://github.com/ntnu-arl/gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
https://github.com/ntnu-arl/gbplanner_ros

Last synced: 2 days ago
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Graph-based Exploration Planner for Subterranean Environments

• Host: GitHub
• URL: https://github.com/ntnu-arl/gbplanner_ros
• Owner: ntnu-arl
• License: bsd-3-clause
• Created: 2020-06-28T01:47:08.000Z (over 4 years ago)
• Default Branch: gbplanner2
• Last Pushed: 2024-06-13T11:07:58.000Z (5 months ago)
• Last Synced: 2024-09-03T17:01:35.633Z (2 months ago)
• Language: C++
• Size: 11.3 MB
• Stars: 662
• Watchers: 26
• Forks: 152
• Open Issues: 21
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Graph-based Exploration Planner 2.0

![swag](img/cerberus_subt_winners.png)

## Tutorial:

Please refer to the [wiki](https://github.com/ntnu-arl/gbplanner_ros/wiki) page for detailed instructions to install and run the demo simulations as well as documentation of the planner interface and parameters.

More results and video explaination of our method can be found on our website: [Link](https://www.autonomousrobotslab.com/exploration-planning.html)

## Installation

These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.

Install necessary libraries:

For Ubuntu 18.04 and ROS Melodic:

```bash

sudo apt install python-catkin-tools \

libgoogle-glog-dev \

ros-melodic-joy \

ros-melodic-twist-mux \

ros-melodic-interactive-marker-twist-server \

ros-melodic-octomap-ros

```

For Ubuntu 20.04 and ROS Noetic:

```bash

sudo apt install python3-catkin-tools \

libgoogle-glog-dev \

ros-noetic-joy \

ros-noetic-twist-mux \

ros-noetic-interactive-marker-twist-server \

ros-noetic-octomap-ros

```

Create the workspace:

```bash

mkdir -p gbplanner2_ws/src/exploration

cd gbplanner2_ws/src/exploration

```

Clone the planner

```bash

git clone [email protected]:ntnu-arl/gbplanner_ros.git -b gbplanner2

```

Clone and update the required packages:

```bash

cd 

wstool init

wstool merge ./src/exploration/gbplanner_ros/packages_ssh.rosinstall

wstool update

```

`Note: ./src/exploration/gbplanner_ros/packages_https.rosinstall can be used for https based urls.`

Build:

```bash

catkin config -DCMAKE_BUILD_TYPE=Release

catkin build

```

## Running Planner Demo 

### Aerial Robot Demo

Download the gazebo model from [here](https://ntnu.box.com/s/45c4kb9ywr1kckhkxnzyd0vrcbn1w176) and extract in the `~/.gazebo/models` folder.

```bash

roslaunch gbplanner rmf_sim.launch

```

It will take few moments to load the world. A message saying the spawn_rmf_obelix process has died may pop up, but as long as the pointcloud map is visible in rviz and the UI controls work this message can be safely ignored.

### Ground Robot Demo

the following command:

```bash

roslaunch gbplanner smb_sim.launch

```

In Ubuntu 18.04 with ROS Melodic, the gazebo node might crash when running the ground robot simulation. In this case set the `gpu` parameter to false [here](https://github.com/ntnu-arl/smb_simulator/blob/6ed9d738ffd045d666311a8ba266570f58dca438/smb_description/urdf/sensor_head.urdf.xacro#L20).

## Results

Robot's of Team Cerberus running GBPlanner and GBPlanner2  

![gbplanner_robots](img/gbplanner_robots.png)

Autonomous exploration mission in the Prize Round of the DARPA Subterranean Challenge Final Event using four ANYmal C legged robots (Chimera, Cerberus, Camel, Caiman), all running GBPlanner2 independantly.

![final_circuit_all_robots](img/cerberus_final_run_compiled_hd.png)

## References

### Explanation Video

[![gbplanner_video](img/gbp2_vid.png)](https://www.youtube.com/watch?v=bTqFp1aODqU&list=PLu70ME0whad9Z4epZQ9VBYagKpyMyhZZ1&index=4)

If you use this work in your research, please cite the following publications:

**Graph-based subterranean exploration path planning using aerial and legged robots**

```

@article{dang2020graph,

  title={Graph-based subterranean exploration path planning using aerial and legged robots},

  author={Dang, Tung and Tranzatto, Marco and Khattak, Shehryar and Mascarich, Frank and Alexis, Kostas and Hutter, Marco},

  journal={Journal of Field Robotics},

  volume = {37},

  number = {8},

  pages = {1363-1388},  

  year={2020},

  note={Wiley Online Library}

}

```

**Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots**

```

@INPROCEEDINGS{9812401,

  author={Kulkarni, Mihir and Dharmadhikari, Mihir and Tranzatto, Marco and Zimmermann, Samuel and Reijgwart, Victor and De Petris, Paolo and Nguyen, Huan and Khedekar, Nikhil and Papachristos, Christos and Ott, Lionel and Siegwart, Roland and Hutter, Marco and Alexis, Kostas},

  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 

  title={Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots}, 

  year={2022},

  volume={},

  number={},

  pages={3306-3313},

  doi={10.1109/ICRA46639.2022.9812401}}

```

You can contact us for any question:

* [Tung Dang](mailto:[email protected])

* [Mihir Dharmadhikari](mailto:[email protected])

* [Kostas Alexis](mailto:[email protected])