Global_Disinfection_Path_Planner

ROBOTICS EVALUATION TOOLKITS

Global Disinfection path Planner feature pack

Author: [Wang Sen], Changchun University of Science and Technology, Changchun

1. Function package parameters

See "alghrithom_select.yaml" for details

#Adjust the expansion coefficient(parameter 1.6、1.7、1.8) in "alghrithom_select.yaml" according to the needs of different map files, otherwise errors and abnormal waypoint information will sometimes occur.

#1.1 Algorithm selection: "1" represents the A* with NN sorting; "2" represents the improved A* with NN sorting; "3" is the A* without NN sorting alghrithom_number: 1

1.2 Generated path file directory: modify the file in "alghrithom_select.yaml" according to the absolute path of each file on the PC

path_file: "/home/auv/catkin_points/src/follow_waypoints-master/saved_path/pose.csv"

1.3.Pgm Map file directory

map_file: "/home/auv/catkin_points/src/clean_spot_gen/mapfiles/eai_map_imu.pgm" #1.4 .Yaml Map file directory map_yaml: "/home/auv/catkin_points/src/clean_spot_gen/mapfiles/eai_map_imu.yaml"

1.5 The directory where the disinfection points' files are located

disinfect_point_file: "/home/auv/桌面/default_file_name.txt"

1.6 The first algorithm parameter

1.6.1 Parameters used to generate swelling obstacles can be adjusted according to the actual map conditions

robot_size_1: 5 safe_distance_1: 0 #1.6.2 Used to calculate path angles angle_jiange_1: 10

1.7 The second algorithm parameter

1.7.1 Parameters used to generate swelling obstacles can be adjusted according to the actual map conditions

robot_size_2: 5 safe_distance_2: 0 #1.7.2 Used to calculate path angles angle_jiange_2: 7

1.8 The third algorithm parameter

1.8.1 Parameters used to generate swelling obstacles can be adjusted according to the actual map conditions

robot_size_3: 5 safe_distance_3: 0 #1.8.2 Used to calculate path angles angle_jiange_3: 10

2 Ubuntu and ROS

Ubuntu 64-bit 16.04.

ROS Kinetic

3. Build

3.1 Clone repository:

First go to the feature package scripts folder, turn .py files into executable files:
    chmod +x filename.py

    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.2 Launch ROS

roslaunch global_planning global_planning_client.launch
roslaunch global_planning global_planning_server.launch