explore_test

Documentation

Documentation of explore_test.

• 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/explore_test

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

export ROS_PACKAGE_PATH=<explore_test_folder>:$ROS_PACKAGE_PATH

Now lets make sure that ROS can find your new package

rospack profile

Compile explore package

rosmake explore_test

Use

To launch a demo:

Go to folder that contains demos

roscd explore_test/config

Launch roscore

roscore

Launch exploration process

roslaunch explore_slam.launch

Useful parameters to be changed

• test_parameters.xml: sets logging parameters
  • stop_map: termination criteria (area to be explored)
  • log_filename: file where log is saved
  • loop_timeout: interval time to check if the robot is stuck
    (i.e., moved less than loop_distance)
  • loop_max: maximum number of times that can happen
  • loop_distance: distance from previous point tu current point
    to consider the robot stuck
  • max_time: maximum duration time of the simulation
  • log_time: interval time at which intermediate results are saved to the log file