RRT Exploration 开源项目教程

RRT Exploration 开源项目教程

rrt_explorationA ROS package that implements a multi-robot RRT-based map exploration algorithm. It also has the image-based frontier detection that uses image processing to extract frontier points.项目地址:https://gitcode.com/gh_mirrors/rr/rrt_exploration

1. 项目的目录结构及介绍

RRT Exploration 项目的目录结构如下：

rrt_exploration/
├── launch/
│   ├── exploration.launch
│   ├── exploration_min.launch
│   └── exploration_max.launch
├── msg/
│   ├── PointArray.msg
│   └── ...
├── scripts/
│   ├── rrt_exploration.py
│   ├── rrt_exploration_node.py
│   └── ...
├── src/
│   ├── rrt_exploration.cpp
│   └── ...
├── srv/
│   ├── AddExplorationBox.srv
│   └── ...
├── CMakeLists.txt
├── package.xml
└── README.md

目录结构介绍

• launch/: 包含项目的启动文件，用于启动探索任务。
• msg/: 包含自定义的消息类型，如 PointArray.msg。
• scripts/: 包含Python脚本，用于实现RRT探索算法。
• src/: 包含C++源代码，用于实现RRT探索算法。
• srv/: 包含自定义的服务类型，如 AddExplorationBox.srv。
• CMakeLists.txt: 用于构建项目的CMake配置文件。
• package.xml: 项目的依赖和元数据信息。
• README.md: 项目的介绍和使用说明。

2. 项目的启动文件介绍

exploration.launch

<launch>
  <node pkg="rrt_exploration" type="rrt_exploration_node.py" name="rrt_exploration_node" output="screen">
    <param name="map_topic" value="/map"/>
    <param name="robot_frame" value="base_link"/>
  </node>
</launch>

exploration_min.launch

<launch>
  <node pkg="rrt_exploration" type="rrt_exploration_node.py" name="rrt_exploration_node" output="screen">
    <param name="map_topic" value="/map"/>
    <param name="robot_frame" value="base_link"/>
    <param name="min_distance" value="1.0"/>
  </node>
</launch>

exploration_max.launch

<launch>
  <node pkg="rrt_exploration" type="rrt_exploration_node.py" name="rrt_exploration_node" output="screen">
    <param name="map_topic" value="/map"/>
    <param name="robot_frame" value="base_link"/>
    <param name="max_distance" value="5.0"/>
  </node>
</launch>

启动文件介绍

• exploration.launch: 启动RRT探索节点，设置地图话题和机器人坐标系。
• exploration_min.launch: 启动RRT探索节点，设置最小距离参数。
• exploration_max.launch: 启动RRT探索节点，设置最大距离参数。

3. 项目的配置文件介绍

package.xml

<package>
  <name>rrt_exploration</name>
  <version>1.0.0</version>
  <description>RRT Exploration Package</description>
  <maintainer email="hasauino@gmail.com">Hasauino</maintainer>
  <license>MIT</license>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>nav_msgs</build_depend>
  <build_depend>visualization_msgs</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>message_generation</build_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend

rrt_explorationA ROS package that implements a multi-robot RRT-based map exploration algorithm. It also has the image-based frontier detection that uses image processing to extract frontier points.项目地址:https://gitcode.com/gh_mirrors/rr/rrt_exploration