📦 far_planner/ MichaelFYang

Usage

The repository has been tested in Ubuntu 18.04 with ROS Melodic and Ubuntu 20.04 with ROS Noetic. Follow instructions in Autonomous Exploration Development Environment to setup the development environment. Make sure to checkout the branch that matches the computer setup, compile, and download the simulation environments.

To setup FAR Planner, clone the repository.

git clone https://github.com/MichaelFYang/far_planner

In a terminal, go to the folder, checkout the 'melodic-noetic' branch, and compile.

cd far_planner
git checkout melodic-noetic
catkin_make

To run the code, go to the development environment folder in a terminal, source the ROS workspace, and launch.

source devel/setup.sh
roslaunch vehicle_simulator system_indoor.launch

In another terminal, go to the FAR Planner folder, source the ROS workspace, and launch.

source devel/setup.sh
roslaunch far_planner far_planner.launch

Now, users can send a goal by pressing the 'Goalpoint' button in RVIZ and then clicking a point to set the goal. The vehicle will navigate to the goal and build a visibility graph (in cyan) along the way. Areas covered by the visibility graph become free space. When navigating in free space, the planner uses the built visibility graph, and when navigating in unknown space, the planner attempts to discover a way to the goal. By pressing the 'Reset Visibility Graph' button, the planner will reinitialize the visibility graph. By unchecking the 'Planning Attemptable' checkbox, the planner will first try to find a path through the free space. The path will show in green. If such a path does not exist, the planner will consider unknown space together. The path will show in blue. By unchecking the 'Update Visibility Graph' checkbox, the p

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