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hasauino / rrt_exploration

A ROS package that implements a multi-robot RRT-based map exploration algorithm. It also has the image-based frontier detection that uses image processing to extract frontier points.
http://wiki.ros.org/rrt_exploration
MIT License
513 stars 180 forks source link

Hello, I have a issues when I run multi robots exploration. #2

Closed Gaoee closed 6 years ago

Gaoee commented 6 years ago

Hello, I have a issues when run multi robots exploration. image The merged map is not a properly position. And When launch "mutliple_simulated_largeMap.launch", there is always show an error about " not transfer from "word" to "robot1/map" ".

hasauino commented 6 years ago

Try this fork: https://github.com/hasauino/m-explore/tree/master/map_merge

This fork is an older version of the map_merge package. The older version used to work fine.

Gaoee commented 6 years ago

Yes, this work for me. Thank you! But I have another question as follow image show, there is not appear many RRT tree lines as the video show. image And sometimes the robots just stop moving. Is that any wrong I have made? What can do for it. Thanks.

Gaoee commented 6 years ago

It seems work well now. I have make the wrong sequence of the poins.Thank you again. This project really worth to me.

hasauino commented 6 years ago

Great. I probably have to change how area is defined.

sandilyasg commented 1 year ago

@Gaoee @hasauino How do you run the multi robot rrt_exploration? I am using ROS melodic. These are my steps: roslaunch rrt_exploration_tutorials multiple_simulated_house.launch roslaunch rrt_exploration_tutorials map_merge.launch roslaunch rrt_exploration three_robots.launch

When I runroslaunch rrt_exploration three_robots.launch I get the following error:

[ERROR] [1677001900.306743, 2623.350000]: bad callback: <function globalMap at 0x7feec434ccd0>
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/sgari/iral_research/sim_rrt_ws/src/rrt_exploration/scripts/filter.py", line 42, in globalMap
    [litraIndx])-namespace_init_count
ValueError: invalid literal for int() with base 10: '_'

[ERROR] [1677001900.308289, 2623.420000]: bad callback: <function globalMap at 0x7feec434ccd0>
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/-/iral_research/sim_rrt_ws/src/rrt_exploration/scripts/filter.py", line 42, in globalMap
    [litraIndx])-namespace_init_count
ValueError: invalid literal for int() with base 10: '_'