# my_exploration

**Repository Path**: xinkaized/my_exploration

## Basic Information

- **Project Name**: my_exploration
- **Description**: A Real-time Global Action Planner for Unmanned Ground Vehicle Exploration in Three-dimensional Spaces
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 5
- **Forks**: 0
- **Created**: 2021-05-26
- **Last Updated**: 2024-04-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# MyExploration

#### Introduction
{**This is the implementation of a real-time action planning for autonomous unmanned ground vehicle exploration in 3D spaces **}


#### Structure
This repo is based on traversabilityMapping developed by Shan Tixiao, see [traversability_mapping](https://github.com/TixiaoShan/traversability_mapping)

refer to
```
@inproceedings{bayesian2018shan,
  title={Bayesian Generalized Kernel Inference for Terrain Traversability Mapping},
  author={Shan, Tixiao and Wang, Jinkun and Englot, Brendan and Doherty, Kevin},
  booktitle={In Proceedings of the 2nd Annual Conference on Robot Learning},
  year={2018}
}
```

#### Get Started

1.  install ROS-kinetic
2.  install and compile LeGO-LOAM following [LeGO-LOAM](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)
3.  install and compile traversability_mapping following [traversability_mapping.com](https://github.com/TixiaoShan/traversability_mapping)
4.  git clone this repo, and build
```
git clone https://gitee.com/xinkaized/my_exploration.git
cd my_exploration_sim_with_traversability_mapping
catkin_make -j1
```
5.  run
run the launch file:
```
roslaunch traversability_mapping offline.launch
```
6.  play existing bag files:
```
rosbag play --clock *.bag --topic /velodyne_points /imu/data
```

#### For simulation
1. install turtlebot2
2. build your turtlebot urdf with VLP-16 and imu
3. build your simulated world
4. launch gazebo with your turtlebot
```
roslaunch turtlebot_gazebo turtlebot_world.launch
```
5. insert your world in gazebo
6. launch turtlebot_teleop
```
roslaunch turtlebot_teleop keyboard_teleop.launch
```