🗺️ Exploration

• 🗺️ Exploration
  • 🧭 Lower Level Planner
  • 🗺️ Exploration with TARE Planner

Make sure that the smb_exploration is built. If not, run:

# In the host PC
catkin build smb_exploration

🧭 Lower Level Planner

Launch the default simulation environment:

# In the host PC
roslaunch smb_gazebo sim.launch

Launch the slam:

# In the host PC
roslaunch smb_msf_graph smb_msf_graph.launch use_sim_time:=true

Launch the local planner and path follower:

# In the host PC
roslaunch smb_navigation navigate2d_cmu.launch use_msf:=true global_frame:=world_graph_msf state_estimation_topic:=/transformed_odom launch_far_planner:=false

At this stage you should be able to set the local way points for SMB to follow as described in Navigation section.

🗺️ Exploration with TARE Planner

Launch TARE Planner for exploration:

# In the host PC
roslaunch smb_exploration smb_rss_tare.launch rviz:=false

Now you should see SMB following the green global exploration path.