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A platform for executing RRT exploration in ROS Noetic and Ubuntu 20.04LTS

CMake 10.85% Lua 8.49% C++ 34.11% Python 46.55%

exploration-strategy noetic ubuntu2004 rrtexploration rrt-exploration ros gazebo turtlebot3

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2catycm lijian8 xiyou521 1261628473 spillthebeanss shuqh smohan996 r-mchi yunlongguo2000 lzylc lerasaudi huyanrui6

multi-robot-rrt-exploration-noetic's Issues

Entered 0 of 4 to start exploration

Whether running single or multiple robots, it shows: Entered 0 of 4 to start exploration, Why is this?
Here is single robot output:

ROS_MASTER_URI=http://localhost:11311

process[exploration_boundary-1]: started with pid [94278]
process[global_detector-2]: started with pid [94279]
process[local_detector-3]: started with pid [94280]
process[filter-4]: started with pid [94281]
process[assigner-5]: started with pid [94283]
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:563: UserWarning: 'tb3_0//map' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Subscriber, self).__init__(name, data_class, Registration.SUB)
[INFO] [1688781863.015201, 35.571000]: waiting for  tb3_0   map topic: tb3_0/map
[INFO] [1688781863.016557, 35.573000]: waiting for  tb3_0    global costmap topic: tb3_0/move_base_node/global_costmap/costmap
[INFO] [1688781863.019299, 35.575000]: Waiting for the global costmap
[INFO] [1688781863.121623, 35.678000]: Waiting for TF Transformer
[INFO] [1688781863.123074, 35.679000]: Transforming - tb3_0/base_link in tb3_0/map
[INFO] [1688781863.327859, 35.884000]: the map and global costmaps are received
Entered 0 of 4 to start exploration
Entered 0 of 4 to start exploration
Entered 0 of 4 to start exploration
Entered 0 of 4 to start exploration
Entered 0 of 4 to start exploration

Cannot install ros-noetic-teb-local-planner

Hello, I am trying to install all the necessary packages listed in the Requirements. When I try to $ sudo apt-get install ros-noetic-teb-local-planner I receive the following:

Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libamd2 libbtf1 libcamd2 libccolamd2 libcholmod3 libcolamd2 libcxsparse3 libgraphblas3 libklu1 libldl2 libmetis5 libmongoose2
  librbio2 libspqr2 libsuitesparse-dev libsuitesparseconfig5 libumfpack5 ros-noetic-costmap-converter ros-noetic-libg2o
  ros-noetic-mbf-abstract-core ros-noetic-mbf-costmap-core ros-noetic-mbf-msgs ros-noetic-mbf-utility
The following NEW packages will be installed:
  libamd2 libbtf1 libcamd2 libccolamd2 libcholmod3 libcolamd2 libcxsparse3 libgraphblas3 libklu1 libldl2 libmetis5 libmongoose2
  librbio2 libspqr2 libsuitesparse-dev libsuitesparseconfig5 libumfpack5 ros-noetic-costmap-converter ros-noetic-libg2o
  ros-noetic-mbf-abstract-core ros-noetic-mbf-costmap-core ros-noetic-mbf-msgs ros-noetic-mbf-utility ros-noetic-teb-local-planner
0 upgraded, 24 newly installed, 0 to remove and 303 not upgraded.
Need to get 1.017 kB/11,2 MB of archives.
After this operation, 138 MB of additional disk space will be used.
Do you want to continue? [Y/n] 
Err:1 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-costmap-converter amd64 0.0.13-1focal.20230620.202702
  404  Not Found [IP: 140.211.166.134 80]
Err:2 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-mbf-utility amd64 0.4.0-1focal.20230620.200354
  404  Not Found [IP: 140.211.166.134 80]
Err:3 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-mbf-costmap-core amd64 0.4.0-1focal.20230620.203149
  404  Not Found [IP: 140.211.166.134 80]
Err:4 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-teb-local-planner amd64 0.9.1-1focal.20230620.203537
  404  Not Found [IP: 140.211.166.134 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-noetic-costmap-converter/ros-noetic-costmap-converter_0.0.13-1focal.20230620.202702_amd64.deb  404  Not Found [IP: 140.211.166.134 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-noetic-mbf-utility/ros-noetic-mbf-utility_0.4.0-1focal.20230620.200354_amd64.deb  404  Not Found [IP: 140.211.166.134 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-noetic-mbf-costmap-core/ros-noetic-mbf-costmap-core_0.4.0-1focal.20230620.203149_amd64.deb  404  Not Found [IP: 140.211.166.134 80]
E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-noetic-teb-local-planner/ros-noetic-teb-local-planner_0.9.1-1focal.20230620.203537_amd64.deb  404  Not Found [IP: 140.211.166.134 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

I tried to run $ sudo apt-get update --fix-missing, but that did not solve the issue. Can anyone help me?

Running the code on robot

Hello,
the simulation is working excellently, yet how can I run this code on a physical robot, it is not working.
Thanks in advance.

Running algorithms in large maps

It works well in small size maps. but can you tell me what parameters I need to change if I want to run it in a large map (20m*20m)?

Problem with map .

     Hello , i have been able to configure all the packages and Node to be able to use turtlebot3 "burger" . But there is a problem . All works when exploring with the robots, but for some reason which i don't know why . After some while . This happens . The description below. I appreciate any advice to solve this.

The robot isn't spawned into the created world . It doesnt seem to work.

The robot does not start to move after hitting the point

ubuntu20.04 +ROS Noetic.
The robot does not start to move after hitting the point.

Problem with map .

     Hello , i have been able to configure all the packages and Node to be able to use turtlebot3 "burger" . But there is a problem . All works when exploring with the robots, but for some reason which i don't know why . After some while . This happens . The description below. I appreciate any advice to solve this.

Robot not moving

Entered 0 of 4 to start exploration
This statement is getting printed continuously and the robot is not moving anywhere.

Hello , i have been able to configure all the packages and Node to be able to use turtlebot3 "burger" . But there is a problem . All works when exploring with the robots, but for some reason which i don't know why . After some while . This happens . The description below. I appreciate any advice to solve this.

Running the node on real Turtlebot 3

Hello again,
I went through the link and all the steps provided there, it was mainly on setting up the robot, and it is all setup and all packages are installed, yet when I plan to run it on the actual robot I first run the gmapping launch file, then I run the move base launch file, what launch files do I have to run next so that it works. Please find attached my rqt_graph maybe it gives you a better idea on what is missing.

turtlebot3 stuck at table leg and deep room during exploration

I try to use it at Gazebo world map and run about 30 times. Sometimes the robot stuck. May I know why turtlebot3 if it went deeper into the room for sometimes, it cannot find path planner to go to unexplored node. It also stuck at the table leg and sometimes cannot recover.

how can we improve on this? Thank you.