This planner generates a path that covers the object contours of a given area, which focuses on the particular objects and can be used for inspection, change monitoring, etc.
The repositories of both Travelling Salesperson Problems and Eulerain cuicuits are being combined to this repository. (ongoing, 2023.01.10)
This package provides an implementation of the path planner which is proposed in the paper .
This package acts as a global planner plugin to the Move Base package (http://wiki.ros.org/move_base).
- Robot Operating System (ROS) (middleware for robotics),
- Move Base Flex (MBF) (move base flex node) used for system testing
To build from source, clone the latest version from this repository into your workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/yongming-qin/eulerian_contour_path_planner.git
cd ../
catkin_make # or catkin build. depends on the build tool you are using
Run a full navigation example using:
roslaunch eulerian_contour_path_planner test_eulerian_contour_path_planner.launch
Give an arbitrary 2D-goal in rviz to start the path planning algorithm. Since the planner covers the whole area, clicking the goal icon and pick any position will work.
Depends on:
mobile_robot_simulator that integrates /cmd_vel into a base_link TF-frame and an odometry publisher
tracking_pid Global path tracking controller
Please report bugs and request features using the Issue Tracker.
While the algorithm is proposed by the authors, this package is written following the style of Full Coverage Path Planner. Secial thanks are given to the contributors of Full Coverage Path Planner.
Apache 2.0
** Author(s): Yongming Qin ** ** Maintainer: Yongming Qin, [email protected] ** The Eulerian Coverage Path Planner package has been tested under ROS Noetic and Ubuntu 20.04.