UniMAE

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Description

UniMAE: An Unified Framework for Multi-Agents Exploration

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Configuration

1. Install the dependence. Install ompl, which is required by car_planner.

   sudo apt-get install libompl-dev
   

   or install ompl in site .

   tar zxf ompl-[version].tar.gz
   cd ompl-ompl-*
   ./install-ompl-ubuntu.sh.in
   

   If occur error like ompl/base/objectives/PathLengthOptimizationObjective.h : No such file or directory:

   sudo apt install ros-noetic-ompl
   sudo find / -name "*ompl*"
   sudo ln -s /opt/ros/noetic/include/ompl-1.4/ompl /opt/ros/noetic/include/ompl
   

2. download code Github

   git clone https://github.com/Krasjet-Yu/UniMAE.git
   

   Gitee

   git clone https://gitee.com/Krasjet_Yu/UniMAE.git
   

3. compile code

   cd UniMAE
   catkin_make # or catkin build

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Class

1. Class 1

Build Global Point Cloud Map

source devel/setup.bash
roslaunch map_generator click_map_generator.launch  # generator global map
roslaunch map_generator map_recorder.launch         # record global map
roslaunch map_generator map_publisher.launch        # publish and display global map

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2. Class 2

Extract Local Sensing Map (camera and lidar) for Planning Module
waiting ...

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Run

source devel/setup.bash && roslaunch scenario run.launch

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Suggestion

1. whenever you make changes to your code, use the git tool to create a branch of your own
2. when the master branch is updated, switch to the master branch to pull the latest code
3. merge master branch with your own branch For example:

git branch feature-{your name}-class-x     # create a branch named feature-{your name}-class-x
git checkout feature-{your name}-class-x   # switch to your branch
# The above two codes can be combined as: git checkout -b feature-{your name}-class-x
''' modify your code '''
''' when the master branch is updated '''
git merge origin master                    # requires manual conflict resolution

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Issue

pose_utils not found. Compile pose_utils separately first.

catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_utils"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""   # cancel separated compile.

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TODO List

Simulator

Map Generator

• generate click map;
• wapper MapGenerator class for variable buildings
• operator rqt for map generation

Robot Model Simulator

• uav simulator
• ugv simulator
• laser simulator
• camera simulator (add fov)