README

This README would normally document whatever steps are necessary to get your application up and running.

What is this repository for?

Navigation Graph Decoder

How to get the graph decoeder running on your workspace

Copy this planner workspace

git clone https://github.com/MichaelFYang/graph_decoder_ws.git
cd graph_decoder_ws/
catkin build
source devel/setup.bash

Before launch the decoder, make sure you check the the configuration file

Open the config file as the way you like

gedit <<YOUR WORKSPACE>>/src/graph_decoder/config/default.yaml 

Launch the graph decoder

roslaunch graph_decoder decoder.launch

Instruction of how this graph decoder works

There are two ways to input (update) graph into the decoder

1. Publish your graph into ROS topic "/robot_vgraph"
2. Read graph file from path published into ROS topic "/read_file_dir"
3. Save graph file from path published into ROS topic "/save_file_dir"

General Graph File Format

idx position.x position.y position.z [connection idxs]

Integration with FAR Planner (Multi-robots Graph Sharing and Merging)

This package could read graphs from either files or published by other robots. It decodes the graphs and re-publishes to FAR Planner. FAR Planner has its own decoder that subscribes to the graph message and merges the graph from other sources with its current graph automatically.

Who could I talk to?

Fan Yang (fanyang2@alumni.cmu.edu)