Usage

Test

Simple test using the built-in data can be applied through following commands:

$ cd ./mpl_test_node/launch/test_primitive_map
$ roslaunch rviz.launch
$ roslaunch test.launch

There are several params in test.launch to play with in order to test in different scenario. In the same folder, there are two template as test.launch.simple and test.launch.skir for reference.

You should be able to see some messages as:

[ WARN] [1499461391.525181641]: Get data!
[MPPlanner] PLANNER VERBOSE ON
[MPBaseUtil] set epsilon: 1.000000
[MPBaseUtil] set v_max: 2.000000
[MPBaseUtil] set a_max: 1.000000
[MPBaseUtil] set dt: 1.000000
[MPBaseUtil] set max num: -1
[MPBaseUtil] set n: 1, use_3d: 0
[MPBaseUtil] set tol_dis: 1.000000
[MPBaseUtil] set tol_vel: 1.000000
start pos: [12.500000, 1.400000, 0.000000], vel: [1.000000, 0.000000, 0.000000], acc: [0.000000, 0.000000, 0.000000]
goal pos: [6.400000, 16.600000, 0.000000], vel: [0.000000, 0.000000, 0.000000], acc: [0.000000, 0.000000, 0.000000]
[ INFO] [1499461394.004879469]: Succeed! Takes 0.055615 sec for planning, expand [727] nodes
================== Traj -- total J: 9.000000, total time: 10.000000
================ Refined traj -- total J: 7.537635, total time: 10.000000

The planned trajectory and voxel map are visualized in Rviz as:

The built-in maps are listed as below:

Simple	Levine	Skir	Office

Create Map

User can create their own maps using the mapping_utils, a launch file example is provided in ./mpl_test_node/launch/map_generator for converting a STL file into voxel map. To create a map, run following commands:

$ cd ./mpl_test_node/launch/map_generator
$ roslaunch mesh_to_map.launch
$ rosbag record /voxel_map

You can rename the recored bag into the model_name.bag and import it later. The params relevant to map configuration requires manually tunning beforehand for individual environment. Note that only the STL file is available for conversion at this time. If a point cloud exists, the user can skip the step from STL to Cloud and only use the part from Cloud to VoxelMap directly.