README

This package was tested with:

• Ubuntu 16.04 LTS - Ubuntu 18.04 LTS
• ROS Kinetic + Melodic

Performances are slightly different between the two ROS versions. On Melodic, exploration is slightly faster for some reasons. Data on the paper are obtained using Kinetic.

Dependencies:

• turtlebot_gazebo
• rviz
• gazebo_ros
• gazebo_plugins
• turtlebot_description
• turtlebot_navigation
• nav2d_navigator
• nav2d_operator
• nodelet
• tf
• nav_msgs
• roscpp
• rospy
• std_msgs
• robot_state_publisher
• map_server
• kobuki
• kobuki_desktop

Set the robot model as variable in .bashrc export TURTLEBOT_BASE=kobuki

After you've built everything, to launch an exploration you have to do:

1. cd < path workspace >

2. catkin_make

3. source devel/setup.bash

4. roslaunch blueprint_exploration turtlebot_expl.launch

5. rosservice call /StartExploration

You can opt in/out the Gazebo GUI and RVIZ. There is one launchfile for each version of the world used.