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Elevators and Multifloor Navigation

asked 2012-02-01 03:22:25 -0500

David Lu gravatar image

updated 2014-11-22 17:05:42 -0500

ngrennan gravatar image

Is the JSK/TUM code to use an elevator and navigate on multiple floors available anywhere?

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answered 2012-02-02 23:47:04 -0500

manabu gravatar image

I am a developer of navigation system with taking elevators in JSK.

The codes are in jsk-ros-pkg (, and the main package is elevator_move_base_pr2. We are using Euslisp programming language for describing procedure of taking elevator and geometrical elevator call button models.

And navigating between multiple maps, we have to change grid map in move_base and amcl. These scripts are in jsk_maps package.

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Thank you! In case anyone else is looking, the package multi_map_server is under the jsk_ros_patch folder.
David Lu gravatar image David Lu  ( 2012-02-03 03:03:27 -0500 )edit

Thanks to sourceforge weirdness, one needs to look at and then the tab "Code", not the tab "Files".

KruseT gravatar image KruseT  ( 2013-08-02 04:59:04 -0500 )edit

Looks like the jsk code repo has moved to github.

130s gravatar image 130s  ( 2016-12-02 20:50:43 -0500 )edit

answered 2012-02-01 07:25:54 -0500

michikarg gravatar image

I am not exactly sure which code you mean, but my colleague Lars Kunze (TUM) recently did an internship at JSK and was involved in the Subway-Sandwich-Demo that involved an elevator. I´m pretty sure, he can help you...

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answered 2012-02-01 03:43:57 -0500

DimitriProsser gravatar image

Although it's not the JSK/TUM code, Eitan Marder-Eppstein, Kurt Konolige, and Bhaskara Marthi cover this topic in their paper. There is an implementation of this here.

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That paper seems to only mention the possibility of using it for multi-floor navigation, specifically for parking garages, where you have ramps that go from floor to floor.
David Lu gravatar image David Lu  ( 2012-02-01 04:09:18 -0500 )edit

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Asked: 2012-02-01 03:22:25 -0500

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Last updated: Feb 02 '12