exploration

Documentation

Documentation of exploration package.

• Documentation
  • Installation
  • Use
    • Useful parameters to be changed

Installation

Download the code from the SVN repository

svn co https://explorationeval.svn.sourceforge.net/svnroot/explorationeval/trunk/stacks/exploration_evaluation_framework/exploration

Add the directory where the code was downloaded to ROS_PACKAGE_PATH environment var

export ROS_PACKAGE_PATH=<exploration_folder>:$ROS_PACKAGE_PATH

Now lets make sure that ROS can find your new package

rospack profile

Compile explore package

rosmake explore

Use

To launch a demo:

Go to folder that contains demos

roscd explore_stage

Launch roscore

roscore

Launch exploration process

roslaunch explore_slam.launch

Launch GUI

rosrun rviz rviz -d explore.vcg

Useful parameters to be changed

• explore_slam.xml: sets exploration parameters
  • decision_perception_discretization: perception/decision timing modality
    • 0 frequency-based perception and decision
    • 1 event-based perception and frequency-based decision
    • 2 event-based perception and decision
  • exploration_strategy
    • 0 random
    • 1 weighted average
    • 2 MCDM
  • planner_frequency: decision frequency in Hz
• explore_costmap.yaml: sets map produced during exploration process and its parameters
  • update_frequency: perception frequency in Hz