How to set exploration boundary in rviz

[luo-pan]

First, thank you for your sharing! When I define the rectangular region for exploration, the "Publish Point" tool in the rviz to define the points isn't used normally. In other words, the polygon for exploration is not defined normally.The package has been debugged on ROS Indigo. In short, can you point me to instructions on how to set the frontier exploration boundary in rviz? Thank you!

[hasauino]

Did you follow this tutorial: http://wiki.ros.org/rrt_exploration/Tutorials/singleRobot

There you will find a gif image showing the correct sequence for publishing the five points

[hasauino]

looks like both the local_rrt_detector and global_rrt_detector are not running. Becuase these nodes subcribe for the points published by Rviz. Did you run the"single.launch" file without any errors or something?

[luo-pan]

Yes, I did it according to the tutorial. But when I click the "Publish Point" tool repeatedly, only one point displays in the rviz.So I don't know the reason. The following video can illustrate the problem I have. 2017-10-20 18:55:55.mp4.zip

[hasauino]

Running this line: roslaunch rrt_exploration_tutorials single_simulated_house.launch runs the simulation. From the video, this part you got it already. This line: roslaunch rrt_exploration single.launch

runs the global and local detectors, the filter, and the assigner nodes. If the detectors are not running, the points you click on Rviz won't be stored. So this is an indication the detector nodes (local_rrt_detector and global_rrt_detector ) are not running

[luo-pan]

I have tried it again and some errors and warns occured as is shown in the picture.

[luo-pan]

THANK YOU! According to your advice , I made it !

[hasauino]

I can't tell from only this picture. But try this; edit the "single.launch" file inside the "rrt_exploration" package, keeping only one node which the global detector. so will look like this:

<launch>
<arg name="eta" value="1.0"/>
<arg name="Geta" value="15.0"/>
  <node pkg="rrt_exploration" type="global_rrt_detector" name="global_detector" output="screen">
  <param name="eta" value="$(arg Geta)"/>
  <param name="map_topic" value="/robot_1/map"/>
  </node>
</launch>

And post me the error, yout tf tree, topics list and nodes list

[hasauino]

ops, ok good to hear that!

[luo-pan]

Mr hasauino, would you like to share your article here? To be honest, I don't know the principle of your RRT algorithm in your article which I can't download. So I want to read your article and find more details which may help me implement the algorithm on a real robot. Looking forward to your reply. Thank you very much.

[hasauino]

I will add a link to the paper, it should be published in a month or so

[luo-pan]

Ok, Mr hasauino. Thanks for your sharing!

[hasauino]

You are welcome

[zwkcoding]

This exploration algorithm similar to this thesis: Receding Horizon "Next-Best-View" Planner for 3D Exploration(http://ieeexplore.ieee.org/document/7487281/) I read. Do you read this this paper? @hasauino

[zwkcoding]

Thanks for sharing! :+1: I'm looking forward to seeing your thesis to make a deep understanding!

[hasauino]

Thank you. Yes, I have read this paper, they also use RRT in their exploration. There are also another exploration algorithm which also uses a variation of RRT called SRT. But the way we use RRT is different. We only use RRT to detect the exploration targets, once detected the robots do not follow the growing tree. I will post a link for the published paper, once it gets indexed on IEEE (it may take a month or less).

[hasauino]

This is the link for the paper describing the algorithm used in the package.