Gas Source Localization

Implementations of several GSL methods for ROS.

To use one of the implemented algorithms, simply launch the gsl_actionserver_node node and create an ActionClient to send a goal with the name of the chosen algorithm (see gsl_server_call.cpp for an example). Currently available algorithms include:

(currently under review)

• "PMFS"

(See paper: https://ieeexplore.ieee.org/document/9347683)

• "GrGSL"

(See paper: https://dl.acm.org/doi/10.1145/3378184.3378220)

• "surge_cast"
• "surge_spiral"
• "spiral"
• "particle_filter"

Installing and building

You can download this package by navigating to your ROS workspace and running:

git clone --recursive git@github.com:MAPIRlab/Gas-Source-Localization.git GSL

Due to the nature of how ROS code is organized in semi-independent packages, it does not quite make sense for this repository to include other ament packages (which you might already have in the same workspace for something else) as submodules. You will need to install those separately:

Dependencies

• GMRF-wind

• Olfaction msgs

• (Optional) Nav-assistant

• (Optional) Gaden

• (Optional) ament_imgui

If you don't want to use Gaden for your experiments you can omit it and set the USE_GADEN option in the CMakeLists.txt file to OFF to compile without the corresponding dependency.

Similarly, the dependency with ament_imgui can be disabled using the USE_GUI option, and the dependency with Nav-Assistant can be disabled with USE_NAV_ASSISTANT in the CMakeLists.txt.