sunzezhou / 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]).

active-slam-with-cartographer's Issues

Built target abseil

[100%] Built target absl_optional
[ 5%] No install step for 'abseil'
[ 5%] Completed 'abseil'
[ 5%] Built target abseil
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

请问这问题怎么解决呢？thanks..

protobuf版本要求

我的配置是ubuntu16.04+protobuf2.6.1
编译的时候出错 大多在proto上
请问是版本有要求吗

Map gets lost after some time on KITTI Run 007 at turns

Hi,

I am trying to run cartographer using KITTI run 007. I preprocesed the dataset using a preprocessing step that turns the data into a range image of size [3,60,512]. The cartograher works well in straight lines but blunders at turns. I am clueless as to what coud be the issue here and tried different tricks with respect to the lua configuration, but didnt work. Could someone help here.
I am posting the rosbag and the lua file here for refernece.
KITTI bag used: kitti-run-007-bag

Lua file used Lua

This is the result using the bag with the given configuration. The map seems to get lost at the turns.

Requesting your help here.

Thanks.
Prashant

缺少头文件问题

您好，我在编译的时候遇到了“fatal error: filter/PointArray.h: 没有那个文件或目录”这个问题。我在filter目录下搜索了一下，确实没有这个头文件，请问这个要怎么处理呢？

代码是否还没完全开源？

大佬您好，我看了一下仓库里面的内容，是否这部分的代码还没开源？

请问你这 Active-SLAM-with-Cartographer 代码怎么运行起来呢？

请问你这 Active-SLAM-with-Cartographer 代码怎么运行起来呢？
是新建一个catkin_ws/src，并git clone https://github.com/SunZezhou/Active-SLAM-with-Cartographer.git 后在catkin_ws下catkin_make吗？

cannot import name PoseConvenience

rrt_exploration/scripts/convenience_util.py 报错cannot import name PoseConvenience

如果你已经装了很新的cartographer，千万别用这个仓库的cartographer版本，否则会造成大麻烦

这个仓库只有cartographer_ros，缺cartographer，用最新版的cartographer会造成proto版本冲突，如果用旧版本又有abseil版本冲突，我装了这个版本对应的abseil，结果导致我自己的cartographer不能用了。 最好还是设法移植到最新的cartographer上

最后把我的rviz搞得都运行不了了，如果非要用，最好在虚拟机上用吧

Problems running yuor dataset in the Paper-Version branch

Hi, sorry to bother you, but after following the indicated procedures to clone and build the code I have an error when I try to test the code with your dataset.

When I perform:

roslaunch rrt_exploration carto_offline_office.launch bag_filename:=${PATH}/horizon.bag

I have the following error:

RLException: [carto_offline_office.launch] is neither a launch file in package [rrt_exploration] nor is [rrt_exploration] a launch file name The traceback for the exception was written to the log file

In my opinion could be that the package rrt_exploration is not properly sourced after performing source install_isolated/setup.bash, but I don't know how to fix the problem.

How can I solve this problem?
Thanks in advance.