How to include global path exploration

[ajay1606]

@grammers Thank you so much for your kind assistance #2 , with your support able to test with custom data. Path planning working as expected, but i am unable to visualize optimized path.

Also, is there any way that we can explore all possible path using prebuilt point cloud map ?

Appreciate your inputs.

[grammers]

DSP finds the optimal path, and in the splined topic a smoothen "optimized" version of the path.

DSP does not work with point cloud maps because of the lack of distinction between unknown and free space. I am not aware of any way to transform a point cloud map into an occupancy map. I have saved the octomap and a point cloud map at the same time to be able to run missions on prebuild maps.

DSP does not in itself do exploration. but it can be used for exploitation https://www.sciencedirect.com/science/article/pii/S0273117722010365.

[ajay1606]

@grammers Thank you so much for your confirmation, i have tested with saving and loading map and its working as you mentioned. But regarding optimized version of path in not publishing in /dsp/splinepath. In the code, lines for publishing commented.

https://github.com/LTU-RAI/Dsp/blob/e61c8951d28439b72dcd75fff12dbcd7f0c99519/src/dsp/dsp.cpp#L597-L614

I enabled the lines, but still data not publish in the topic /dsp/splinepath.

[grammers]

Yes, you need to uncomment the lines 609-613 as well. These lines are commented on because the splined path is not entirely stable have had issues with it before. I believe the issues are addressed so it should work now.

[ajay1606]

@grammers I have uncommented and tried. But still its not publishing.

Are there any parameters to tune !

[grammers]

https://github.com/LTU-RAI/Dsp/blob/e61c8951d28439b72dcd75fff12dbcd7f0c99519/src/dsp/dsp.cpp#L597C1-L614C2

Odd, on my side do splined path work by uncomment lines 601, and 609 - 613 (601, 609,610,611,612,613). It is published on /dsp/splinepath it will be similar to /dsp/path

[ajay1606]

@grammers Thank you so much for the confirmation ! I am able see the data in/dsp/splinepath, By the way what published in /dsp/optpath ?

And lastly, Have you tested this with ground robot ? Seems trajectory appears to be generated for Aerial robot. Are there any necessary parameter to tune to use this with ground robots !

Greatly appreciate your response !

[grammers]

It appears that the documentation is old, /dsp/optpath is supposed to be /dsp/splinepath.

For ground robots, yes I have used it. You need to use a 2d mapper that gives you a nav_msgs::OccupancyGrid and set use_3d_ = false. Occtomaps projected map is of the correct type but it will be invalid indoors due to roof registers as obstacles in that map. In the past have I used cartographer https://github.com/cartographer-project/cartographer_ros and traversability_mapping https://github.com/TixiaoShan/traversability_mapping

[ajay1606]

@grammers Thank you much for your continuous support and generosity .