robustfieldautonomylab / turtlebot_exploration_3d Goto Github PK

Hello, could this code run in ROS kinetic? I tried, but failed. what need to be modified if I want to run it in Kinetic? Thank you !

line 293 - line 306 of the file turtlebot_exploration_3d.cpp is

        Candidates_pub.publish(CandidatesMarker_array);
        CandidatesMarker_array.markers.clear();
        candidates.clear();

        // loop in the idx_MI, if the candidate with max MI cannot be achieved, 
        // switch to a sub-optimal MI.
        arrived = false;
        int idx_ptr = 0;

        while (!arrived) {
            // Setup the Goal
            next_vp = point3d(candidates[idx_MI[idx_ptr]].first.x(),candidates[idx_MI[idx_ptr]].first.y(),candidates[idx_MI[idx_ptr]].first.z());
            Goal_heading.setRPY(0.0, 0.0, candidates[idx_MI[idx_ptr]].second.yaw());
            Goal_heading.normalize();

I also show the code block as an image

Since candidates is used in line 304, we should not clear candidates in line 295

Hello,
When I write this line of the code on the terminal : roslaunch turtlebot_exploration_3d minimal_explo.launch

I have a problem, there is this displayed :

And I don't no why, if anyone could help me, it will be nice

I have a turtlebot and a kinect2, I use ubuntu14.04 for ros-indigo,How to use kinect2 to explorate my room using your turtlebot_exploration_3d?

Thank you very much!

Hello, I ran your code successfully before, but i met an error these days.

1. When i run "roslaunch turtlebot_exploration_3d minimal_explo.launch", it shows a [WARN]:
   setting /run_id to cb9f3338-dbef-11e8-a8ab-00367664b761
   process[rosout-1]: started with pid [11178]
   started core service [/rosout]
   process[robot_state_publisher-2]: started with pid [11196]
   process[diagnostic_aggregator-3]: started with pid [11197]
   process[mobile_base_nodelet_manager-4]: started with pid [11198]
   process[mobile_base-5]: started with pid [11205]
   process[bumper2pointcloud-6]: started with pid [11214]
   process[cmd_vel_mux-7]: started with pid [11220]
   process[turtlebot_laptop_battery-8]: started with pid [11222]
   process[capability_server-9]: started with pid [11232]
   process[app_manager-10]: started with pid [11240]
   process[master-11]: started with pid [11252]
   process[interactions-12]: started with pid [11276]
   process[zeroconf/zeroconf-13]: started with pid [11285]
   [ INFO] [1540868361.765459318]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]
   [WARN] [WallTime: 1540868363.614965] Rapp Manager : 'rocon_apps/chirp' is not unique and has no preferred rapp. rocon_apps/meow_chirp' has been selected.

2. When i run "roslaunch turtlebot_exploration_3d turtlebot_gmapping.launch", it can not find kinect:
   [ INFO] [1540868420.788991651]: Initializing nodelet with 4 worker threads.
   [ INFO] [1540868421.179178675]: Using plugin "static_layer"
   [ INFO] [1540868421.218580597]: Requesting the map...
   [ INFO] [1540868422.140915631]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.3.0/src/openni2_i2_driver.cpp @ 7 @ 737 : Invalid device number 1, there are 0 devices connected.

Waiting for your help, thank you.

Because I am more familiar with using matlab, I want to try to ask if you can find it.

I see that MI = after - before in your code.
But it seems that "after" is generated by adding "hits" to "before", and "hits" are obtained by casting rays on "before". So my point is why "after" is different from "before"??

The matern kernel function is

However, in your code, it is

Why the modification is taken ?

Hello,

When I build the package and then try to run the turtlebot_gmapping.launch file, I get the error:

ERROR: cannot launch node of type [turtlebot_exploration_3d/scan_to_pcl]: can't locate node [scan_to_pcl] in package [turtlebot_exploration_3d]

So it seems that the scan_to_pcl node is not being built. I tried both the master and indigo branches and I am running ROS Indigo under Ubuntu 14.04.

Ubuntu 16.04
ROS kinetic

I followed the instruction in #11 and I also replacing minimal_explo.launch with the one in https://github.com/turtlebot/turtlebot/blob/kinetic/turtlebot_bringup/launch/minimal.launch otherwise there will be an error with rapp manager.

After running turtlebot_exploration_3d, the robot will rotate and then generate candidate view points. But then it will log info

[ INFO] [1603798634.243095609, 271.694000000]: Waiting for the move_base action server to come up
[ INFO] [1603798639.248807206, 276.694000000]: Waiting for the move_base action server to come up

and won't move. Can anyone help? Thanks in advance.

More details
I ran the simulation with the following commands.

roslaunch turtlebot_gazebo turtlebot_world.launch world_file:='/opt/ros/kinetic/share/turtlebot_gazebo/worlds/corridor.world'
roslaunch turtlebot_exploration_3d minimal_explo.launch 3d_sensor:=kinect simulation:=true battery:=None
roslaunch turtlebot_exploration_3d turtlebot_gmapping.launch
roslaunch turtlebot_exploration_3d exploration_rviz.launch
rosrun  turtlebot_exploration_3d turtlebot_exploration_3d

Hi, I'm running your project, I used Xtion since it don't need the extra battery to drive it.
It showed as follows:
[ WARN] [1556805443.821747525]: Wait for tf: Kinect frame
Writing 0 nodes to output stream...[ WARN] [1556805443.922125934]: Rotate...
Writing 0 nodes to output stream...[ WARN] [1556805446.978718578]: Rotate...
And when it turned around for a circle,it stopped and showed the error as the title.How should I fix this problem?
Thanks in advance.

Hello, I'm trying to test the package in the Gazebo Simluation. I changed turtlebot_gmapping.launch to don't run 3dsensor.launch because I'm already running the plugin openni from gazebo similation turtlebot_world.launch.
However I'm getting the following error message when I run "rosrun turtlebot_exploration_3d turtlebot_exploration_3d":

[ INFO] [1590634740.635910761, 257.825000000]: Candidate View Points: 0 Genereated, 15 evaluating...
[ERROR] [1590634740.636365218, 257.825000000]: Very few candidates generated, finishing with exploration...

Am I forgeting any step? Do I have to do something else to adapt the package?

Thanks!