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Simultaneous Autonomous Exploration and Mapping in Gazebo

asked 2014-09-08 03:43:12 -0500

Ashwin27 gravatar image

Using Gazebo, I place a husky robot in a completely unknown environment (currently the willowgarage map). My basic objective is to make the husky autonomously navigate itself through the entire world with the sole aim of mapping the entire area. Basically, if anyone could tell me how to combine an exploration algorithm such as frontier_exploration with gmapping, I would greatly appreciate it. Most tutorials out there use teleoperation, which really defeats the purpose I'm trying to achieve.

Thank You!

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Did you manage to do it?

Nikhil16 gravatar image Nikhil16  ( 2016-03-22 13:28:41 -0500 )edit

Hello Nikhil, I moved forward with the Nav2d package by Sebastien mentioned in the answer below. I highly recommend it, it's a great place to start.

Ashwin27 gravatar image Ashwin27  ( 2016-03-22 14:39:35 -0500 )edit

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answered 2014-09-08 05:03:18 -0500

Sebastian Kasperski gravatar image

The core idea is usually, that you have a complete goal navigation running on your robot and have your exploration module generate the targets depending on your current map and robot position. So a first step would be to check that mapping and navigation are working simultaneously.

I once used the exploration package from within Gazebo and the willowgarage map, so this could be an option as well.

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Thanks, Sebastian! I'll give it a try.

Ashwin27 gravatar image Ashwin27  ( 2014-09-08 05:21:59 -0500 )edit

Hi @Sebastian Kasperski, can nav2d exploration package be used for a single robot autonomous exploration of an indoor workplace out of the box? - i have working navigation and mapping packages running. thanks

sobot gravatar image sobot  ( 2015-05-08 18:03:36 -0500 )edit

Hi @sobot, exploration should work out of the box if you use the mapping and navigation from the nav2d package. (see Tutorial3)

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2015-05-11 03:39:46 -0500 )edit

thanks a bunch @Sebastian Kasperski , i will give it a try for sure. just a little question, do i also have to add the GetFirstMap action which is mentioned in the tutorial, like the other two GetMap & Explore in the launch file? my ultimate goal is to test an autonomous navigation solution.

sobot gravatar image sobot  ( 2015-05-11 05:52:40 -0500 )edit

@sobot: The GetFirstMap action only drives the robot forward a bit and makes it turn 360° to build an initial map. This is because the exploration cannot work on an empty map. The client-nodes are only simple shortcuts to call these actions from the command line.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2015-05-11 06:36:20 -0500 )edit

@Sebastian Kasperski Correct, i understand the reason for of it. was just wondering about the launch file config to do "Autonomous" exploration on robot. GetFirstMap is not in the sample launch files, do i have to add it just like GetMap? which service number calls it? so much want it to work! thnx.

sobot gravatar image sobot  ( 2015-05-11 07:46:11 -0500 )edit

@sobot: But it is there: tutorial3.launch. It is called get_map_client.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2015-05-11 09:29:14 -0500 )edit

Ok, got me, the naming might be a little inconsistent...

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2015-05-11 09:31:36 -0500 )edit

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Asked: 2014-09-08 03:43:12 -0500

Seen: 2,329 times

Last updated: Sep 08 '14