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ipa320 / autopnp

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Is there anyone will fix the tsp problem? #17

Open xinwf opened 5 years ago

xinwf commented 5 years ago

The tsp algorithm still has problem, will anyone will solve it?

AhmedDhahri commented 3 years ago

It is here https://github.com/ipa320/ipa_tsp_solvers It worked for me

KamalanathanN commented 3 years ago

@AhmedDhahri Did it work for ROS Melodic ?

AhmedDhahri commented 3 years ago

@KamalanathanN They have a newer version that works on ROS melodic https://github.com/ipa320/ipa_coverage_planning/tree/melodic_dev

KamalanathanN commented 3 years ago

@AhmedDhahri Yes i am currently trying to implement the ipa_coverage_planning with the ipa's cob_robot , inside cob_simulation ROBOT=raw3-3 and ROBOT_ENV=ipa-apartment my commands in order are :

roslaunch cob_bringup_sim robot.launch
roslaunch cob_navigation_global 2dnav_ros_dwa.launch
roslaunch cob_navigation_global rviz.launch
roslaunch ipa_room_exploration room_exploration_action_server.launch
roslaunch ipa_room_exploration room_exploration_client.launch

I get the path generated for ipa-apartment in rviz but its not correctly alinged with the map. as shown below: ipa_room_exploration

also i have editied the yaml file as mentioned in #https://github.com/ipa320/autopnp/issues/12#issuecomment-495279371 so its supposed to follow the path generated but it's not executing the generated path. what am i missing here :(

eejacky commented 3 years ago

@KamalanathanN They have a newer version that works on ROS melodic https://github.com/ipa320/ipa_coverage_planning/tree/melodic_dev

can you build this version(ipa_coverage_planning-melodic_dev)? I build with this version ,has some problems. i build step: mkdir ~/ros_ws/src cd ~/ros_ws/src catkin_init_workspace cd ~/ros_ws catkin_make cd src git clone https://github.com/ipa320/ipa_coverage_planning.git git clone https://github.com/ipa320/cob_extern.git git clone https://github.com/ipa320/cob_perception_common.git

cd .. catkin_make executing catkin_make,i get some error: CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "cob_map_accessibility_analysis" with any of the following names:

cob_map_accessibility_analysisConfig.cmake
cob_map_accessibility_analysis-config.cmake

Add the installation prefix of "cob_map_accessibility_analysis" to CMAKE_PREFIX_PATH or set "cob_map_accessibility_analysis_DIR" to a directory containing one of the above files. If "cob_map_accessibility_analysis" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): ipa_coverage_planning-melodic_dev/ipa_room_exploration/CMakeLists.txt:33 (find_package)

-- Configuring incomplete, errors occurred!

KamalanathanN commented 3 years ago

have you installed cob_map_accessibility_analysis ?

sudo apt install ros-melodic-cob-map-accessibility-analysis

also try cloning: https://github.com/KamalanathanN/ipa_coverage_planning/tree/melodic_dev i've made small changes and it compiled on melodic.

now im using ros noetic, to test it out in noetic try cloning @AhmedDhahri's repo: https://github.com/AhmedDhahri/ipa_coverage_planning when i remove the uqtr_room_decomposition package it compiles fine.