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I have a differential robot, with a laser Hokuyo, and I want my robot to cover the whole part of a map. I saw that there is some algorithms but I can't find a code. So have someone already implement such algorithms?
Thank you
Do you have a map already or do you want to build a complete map of your environment? In the latter case, you could try the exploration module from: http://wiki.ros.org/nav2d
It completely explores an unknown environment and builds a map using 2D Laser-Scanner.
Then you have to somehow define, which area of the map is covered when the robot moves within the map. But I don't know if something like this exists in ROS.
Re-exploring a known area was my initial use case for http://wiki.ros.org/frontier_exploration. You can use the client tool to set an exploration boundary in rviz. It can also be used to explore an unknown area with gmapping.
Paul,I find your package is a good job.I'm a newer to ROS and when I use your package I have some trouble that I can't build it.when I use the command catkin_make in the root of my own workspace there are some errors.It says "Could not find a configuration file for package costmap_2d and move_base_m
The heatmap package ( http://wiki.ros.org/heatmap ) says it does coverage path planning as part of its functionality. The source code is here and looks maintained: https://github.com/eybee/heatmap/tree...
The heatmap package itself uses the coverage path planner from the Auburn Autonomous Lawnmower stack ( https://github.com/Auburn-Automow/au_... ), which looks out of date.
Or maybe not. See what happens if you run this launch file without the wi-fi stuff: heatmap_sim.launch
Yeap it works but unfortunately it is only used to generate coverage way points of a geometry polygon drawn by using publish_point in rviz. It does not generate coverage path for your input map.
Asked: 2014-07-09 09:24:51 -0600
Seen: 5,227 times
Last updated: Feb 15 '16
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Is it really hopeless?
hey @Moda im trying to work on the same algorithm, been really hard getting around it. have you had any progress/luck since the time u asked ur question here? Thanks!
Similar to http://answers.ros.org/question/17499... (and a few others listed there)