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Full coverage path planner

asked 2014-07-09 09:24:51 -0500

Moda gravatar image

updated 2014-07-21 02:48:33 -0500

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

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Is it really hopeless?

Moda gravatar imageModa ( 2014-07-10 05:29:34 -0500 )edit

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!

sobot gravatar imagesobot ( 2015-03-27 11:51:16 -0500 )edit

Similar to http://answers.ros.org/question/17499... (and a few others listed there)

lucasw gravatar imagelucasw ( 2016-02-15 18:36:11 -0500 )edit

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answered 2014-07-17 02:35:18 -0500

Sebastian Kasperski gravatar image

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.

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I already have the map. What I want is that the robot cover the complete map, it must go in every free space of the map.

Moda gravatar imageModa ( 2014-07-17 05:47:57 -0500 )edit
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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.

Sebastian Kasperski gravatar imageSebastian Kasperski ( 2014-07-17 10:01:29 -0500 )edit
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I concur. I don't know of any code that does this.

David Lu gravatar imageDavid Lu ( 2014-07-19 12:00:53 -0500 )edit

There is lot of algorithms which deal about that specific issue, so I'm surprise that anybody tried to implement one of this algorithms

Moda gravatar imageModa ( 2014-07-21 02:14:10 -0500 )edit

is there a ROS package that supports autonomous map building? for example, we can just place the robot in a room and it begins to build the map by itself vs. teleop control.

d gravatar imaged ( 2014-07-27 01:56:17 -0500 )edit
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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.

paulbovbel gravatar imagepaulbovbel ( 2014-07-29 13:37:02 -0500 )edit

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

herodotus gravatar imageherodotus ( 2014-09-16 04:39:39 -0500 )edit

so can you tell me how to solve the question or how you build this package?Thank you.

herodotus gravatar imageherodotus ( 2014-09-16 04:41:18 -0500 )edit
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answered 2016-02-15 11:02:03 -0500

spmaniato gravatar image

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.

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Hi there. Do you know why the heatmap uses wifi? Is it possible for me to get coverage by just using the automow?

RoSPlebb gravatar imageRoSPlebb ( 2016-07-14 13:34:00 -0500 )edit

Because it's a "ROS package for automated creation of visual WiFi heatmaps." I suspect that you would have to tinker with the source code to only use the coverage functionality.

spmaniato gravatar imagespmaniato ( 2016-07-14 13:51:48 -0500 )edit

Or maybe not. See what happens if you run this launch file without the wi-fi stuff: heatmap_sim.launch

spmaniato gravatar imagespmaniato ( 2016-07-14 13:53:24 -0500 )edit

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Asked: 2014-07-09 09:24:51 -0500

Seen: 2,725 times

Last updated: Feb 15 '16