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