forrest-z / active-slam-with-cartographer

This work contains a modified version of cartographer_frontier_detection and rrt_exploration. We implement an active exploration process and improve its robustness and performance. More details are described in the paper "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration" (IROS2020).

Active SLAM with Cartograher

This work contains a modified version of cartographer_frontier_detection and rrt_exploration. We implement an active exploration process and improve its robustness and performance. More details are described in the paper "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration" (IROS2020).

1. Requirements

The package has been tested on Ubuntu16.04 with ROS Kinetic. It is known that apt-get install kuboki will cause errors in ROS Melodic.

I provide a detailed docker installation procedure in my-docke-env.

2. Usage

I have provided several available launch files:

roslaunch cartographer_ros playbag.launch (Note that the default lidar topic is ‘/scan’)

roslaunch cartographer_ros carto_gazebo.launch (The robot explores in the simulation environment。 TODO: adjust the move_base parameters)

roslaunch cartographer_ros carto_movebase.launch (Standard SLAM with navigation)

roslaunch cartographer_ros simple_move.launch (Send a virtual void map, only call move_base)

roslaunch cartographer_ros turtlebot_hokuyo.launch (The robot explores in the real environment。 TODO: adjust the move_base parameters)

3. Updates

master: Migrate code to turtlebot2. (2020.08.15)

branch: Paper Version == tags v1.0

4. Lisence

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Zezhou Sun ([email protected]) or Banghe Wu ([email protected]).