MuNES: Multifloor Navigation Including Elevators and Stairs

Video [link] Paper [link]

Download datasets

Data 1 (moving between two floors; stairs and an elevator)

Mapping

Prerequisite

• Our code depends on ROS, Ceres, GTSAM, thus please install those prerequisites before installing MuNES.

Execute

mkdir -p ~/munes_ws/src
cd ~/munes_ws/src
git clone git@github.com:donghwijung/MuNES.git
cd ../
catkin_make
source ~/munes_ws/devel/setup.bash
roslaunch munes run.launch
rosbag play data_1.bag 

Trajectory Planning

Prerequisite

• To proceed the trajectory planning, a pcd file containing ground points of the multi-floor map is necessary.

• The ground map can be obtained from the mapping process.

• If you want to skip the mapping process, you can download pcd file and move the downloaded file to the directory /pcd in this repository.

Setup

• We tested MuNES with python 3.8.

pip install -r requirements.txt

Execute

Planning using the real map (a prior map is necessary)

cd planning
python munes.py

Planning using the virtual map (a prior map is not necessary)

cd planning
python munes_wo_map.py

Paper

@article{jung2024munes,
  title={MuNES: Multifloor Navigation Including Elevators and Stairs},
  author={Jung, Donghwi and Kim, Chan and Cho, Jae-Kyung and Kim, Seong-Woo},
  journal={arXiv preprint arXiv:2402.04535},
  year={2024}
}

Acknowledgement

The code in this repository is based on A-LOAM, SC-A-LOAM, and PathPlanning. Thanks to the authors of those codes.

License

Copyright 2024, Donghwi Jung, Chan Kim, Jae-Kyung Cho, and Seong-Woo Kim, Autonomous Robot Intelligence Lab, Seoul National University.

This project is free software made available under the MIT License. For details see the LICENSE file.