Spatio-temporal topological exploration¶
This package provides the nodes necessary to run spatio-temporal exploration over the nodes in the topological map.
Parameters¶
tag_node
: nodes where is not possible to build a ground truth. The exploration task is set by an exploration routine.schedule_directory
: directory where the schedules are saved.grids_directory
: directory where the 3D grids are saved.resolution
: voxel size.dimX
: number of cells along the axis X.dimY
: number of cells along the axis Y.dimZ
: number of cells along the axis Z.sweep_type
: do_sweep action type (complete, medium, short, shortest).taskDuration
: exploration task time duration in seconds.
Running¶
roslaunch topological_exploration topological_exploration.launch
Original page: https://github.com/strands-project/strands_exploration/blob/indigo-devel/spatiotemporal_exploration/README.md