Please refer to the 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
These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.
Install necessary libraries:
For Ubuntu 18.04 and ROS Melodic:
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:
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:
mkdir -p gbplanner2_ws/src/exploration
cd gbplanner2_ws/src/exploration
Clone the planner
git clone git@github.com:ntnu-arl/gbplanner_ros.git -b gbplanner2
Clone and update the required packages:
cd <path/to/gbplanner2_ws>
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:
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build
Download the gazebo model from here and extract in the ~/.gazebo/models
folder.
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.
the following command:
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.
Robot's of Team Cerberus running GBPlanner and GBPlanner2
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.
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}}
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