About

Open-source modules for ICRA 2019 submission "Learned Map Prediction for Enhanced Mobile Robot Exploration"

Supplementary Video

Preprint

Link

Modules

Online Map Completion

Variational Autoencoder Network for map prediction

online_map_completion_msgs

ROS messages and services for communicating the map prediction data

Stage frontier datagen

Data generation and exploration evaluation programs

Ground truth layer

ROS Costmap layer for building ground truth maps from laser and pose

Stage

Fork of Stage Simulator rtvstage

Hector navigation

Fork of hector navigation for hector exploration planner (hector_navigation)

libfloorplan

Fork of kth_libfloorplan for parsing KTH floorplan dataset

Building

Clone the repo to src directory of your workspace

git clone https://github.com/rakeshshrestha31/map_prediction_enhanced_exploration
cd map_prediction_enhanced_exploration
git submodule update --init --recursive

install dependencies

bash install_deps.sh
rosdep install --from-paths src --ignore-src -y -r

Build the Stage simulator

cd <stage_directory>
mkdir build
cd build
cmake ..
make -j<num_jobs>
sudo make install

(Note: if you don't want the simulator to be installed in /usr/local set CMAKE_INSTALL_PREFIX appropriately)

Build the libfloorplan library

cd <libfloorplan_directory>
mkdir build
cd build
cmake ..
make -j<num_jobs>
make install
# this can be added to .bashrc or .zshrc
export LIB_FLOORPLAN_PATH=<libfloorplan_directory>

Build the catkin workspace

catkin build

Download KTH dataset

cd <datasets_directory>
wget http://www.csc.kth.se/~aydemir/KTH_CampusValhallavagen_Floorplan_Dataset.tar.bz2
tar xvf KTH_CampusValhallavagen_Floorplan_Dataset.tar.bz2

Generating partial maps dataset

rosrun stage_frontier_datagen kth_stage_node _dataset_dir:=<kth_dataset_dir> _data_record_dir:=<generated_dataset_dir>