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reiniscimurs / GDAE

A goal-driven autonomous exploration through deep reinforcement learning (ICRA 2022) system that combines reactive and planned robot navigation in unknown environments
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What do the the nodesrepresent, #9

Open Talha771 opened 1 year ago

Talha771 commented 1 year ago

What does the variable "nodes" in line 140 of GDAE_env.py represent. Are these the blue dots in the map or each indiviudal coordinate in the map

Really appreciate your resources btw.

reiniscimurs commented 1 year ago

Hi,

Line 140 is a publisher of topic of the nodes. Nodes, in general, mean the points of interest (POI) from the paper. But specifically the ones in line 140 are just used for debugging to see the front at each step where robot could place possible nodes.

But you are right that the nodes are the blue dots in the map, specifically, the ones stored in this variable: https://github.com/reiniscimurs/GDAE/blob/fc793eda8de23bed98ba3acd32908843c535510f/Code/GDAM_env.py#L103C1-L104C1

Talha771 commented 1 year ago

Ooh, I thought they were some representation of the discrete points in space on the map. I've been wondering how the robot makes the occupancy grid for the map.

reiniscimurs commented 1 year ago

Ooh, I thought they were some representation of the discrete points in space on the map. I've been wondering how the robot makes the occupancy grid for the map.

Map is created with SLAM Toolbox plugin: https://github.com/SteveMacenski/slam_toolbox