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| This package provides an exploration strategy for single or multiple robots. However, for it to work, you should have set your robots ready using the navigation stack. And each robot should run the "slam_gmapping" node from the [[http://wiki.ros.org/gmapping/|gmapping]] package. | |
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| Additionally, the robots must be set and prepared as follows. Note: If you want to quickly run and test the package, you can try out the rrt_exploration_tutorials package which provides Gazebo simulation for single and multiple robots, you can use it to directly with this package. == 5.1. Robots Network == For the multi-robot configuration, the package doesn't require special network configuration, it simply works by having a single ROS master (can be one of the robots). So on the other robots, the ROS_MASTER_URI parameter should be pointing at the master's address. For more information on setting up ROS on multiple machines, follow [[http://wiki.ros.org/ROS/NetworkSetup/|this]] link. |
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Contents
Package Available on Github: https://github.com/hasauino/rrt_exploration
1. Introduction
"rrt_exploration" is a ROS package that implements a multi-robot map exploration algorithm for mobile robots. It is based on the Rapidly-Exploring Random Tree (RRT) algorithm. It uses occupancy girds as a map representation.The package has 5 different ROS nodes:
- Global RRT frontier point detector node.
- Local RRT frontier point detector node.
- OpenCV-based frontier detector node.
- Filter node.
- Assigner node.
The video below shows the package running on Gazebo simulation of three robots:
This video below shows the package running on real robots:
The package works for a single robot as well.
2. Package Requirements
The package has been tested on both ROS Kinetic and ROS Indigo, it should work on other distributions like Jade. The following requirements are needed before installing the package:
1- You should have installed a ROS distribution (indigo or later. Recommended is either indigo or kinetic).
2- Created a workspace.
3- Installed the "gmapping" ROS package, you can do that by typing the following command in the terminal:
sudo apt-get install ros-$ROS_DISTRO-gmapping
4- Install ROS navigation stack. You can do that with the following command:
sudo apt-get install ros-$ROS_DISTRO-navigation
5- You should have Python 2.7. (it was not tested on Python 3).
6-You should have/install the following python modules:
-OpenCV (cv2)
sudo apt-get install python-opencv
-Numpy
sudo apt-get install python-numpy
-Sklearn
sudo apt-get install python-scikits-learn
3. Hardware Requirements
A mobile robot equipped with a laser scanner or any sensor that publishes laser scan message (sensor_msgs/LaserScan).
4. Installation
Download the package and place it inside the /src folder in your workspace. And then compile using catkin_make.
5. Setting Up Your Robots
This package provides an exploration strategy for single or multiple robots. However, for it to work, you should have set your robots ready using the navigation stack. And each robot should run the "slam_gmapping" node from the gmapping package.
- Additionally, the robots must be set and prepared as follows.
Note: If you want to quickly run and test the package, you can try out the rrt_exploration_tutorials package which provides Gazebo simulation for single and multiple robots, you can use it to directly with this package.
5.1. Robots Network
For the multi-robot configuration, the package doesn't require special network configuration, it simply works by having a single ROS master (can be one of the robots). So on the other robots, the ROS_MASTER_URI parameter should be pointing at the master's address. For more information on setting up ROS on multiple machines, follow this link.
