cs393r_helms_deep_final

Final Project for Autonomous Robots Class

Fast Frontier Detection (FFD)

This repo contains Helm's Deep implementation of a FFD algorithm. Instructions for downloading and runing our code are described below.

Build the repository in a catkin workspace.

1. mkdir -p ~/ffd_ws/src
2. cd ~/ffd_ws/
3. catkin_make
4. cd src
4. git clone <this repository url> (found in the upper right)
5. cd ~/ffd_ws
6. catkin_make

Runing The Demonstrations.

Our implementation of FFD was developed and tested on ROS Melodic. Execution on other ROS versions have not been tested and my not work as intended. For execution of our FFD algorithm please follow the steps below. Note that these instructions assume that the "desktop-full" version of ROS (which includes the Gazebo physics simulator) is installed. If a the "desktop" or "base" version are instead installed, additional effort may be needed to install Gazebo and maybe RVIZ. Note also that our implementation of FFD is not capable of mapping the entire environment. The demonstration is meant to showcase the progress of the project.

Download/Install the Husky Navigation demo package

sudo apt-get install ros-melodic-husky-simulator

In separate terminal windows launch the following

1. Start the Husky Simulation Environment:

roslaunch husky_gazebo husky_playpen.launch

2. Start RVIZ

roslaunch husky_viz view_robot.launch

• Note: Instructions to preform after the FFD demo has started
• In the bottom left courner of RVIZ click add -> By topic -> and add both /contor pointcloud and /latest_frontiers pointcloud inorder to see the visualized contor and frontiers.
• In the dispays window unsubscribe (uncheck) all boxes except for Grid,RobotModel,Navigation,and Static Map. (For better visualization of the contors and frontiers increase the size of the pointclouds in their respective display topic.)

3. Start the gmapping demo:

roslaunch husky_navigation gmapping_demo.launch

Start the FFD demo:

Once the demo has started the robot will begin to map and explore the enviornment. The demonstration will complete once the robot has finished constucting a map of the enviornment.

 cd ~/ffd_ws/
 source devel/setup.bash
 rosrun cs393r_final_helms_deep FFD_main