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UbiquityRobotics / ubiquity_main

Main documentation as well as other misc files
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RootRework: Voronoi Graph Generator #272

Open MoffKalast opened 2 years ago

MoffKalast commented 2 years ago

We'll need a node that generates a mesh graph from an occupancy grid map using a voronoi graph approach. Each goal must be reachable by the robot and have some padding around it to allow for rotation.

The generated grid then needs to be integrated into the ezmap so it can then be adjusted for edge cases by a human operator.

I've assigned you here @JanezCim since you found some pre-existing code that we should take a look at and I can't recall what/where it was exactly, so if you still have those links it would be helpful to post them here as a reply.

JanezCim commented 2 years ago

http://wiki.ros.org/tuw_voronoi_graph http://wiki.ros.org/voronoi_planner http://wiki.ros.org/dynamicvoronoi https://github.com/lucascoelhof/voronoi_hsi

MoffKalast commented 2 years ago

The tuw planner turned out to be the closest to what we need, currently forked as https://github.com/UbiquityRobotics/ubiquity_voronoi_graph to be reworked slightly.