This project is based on GBPlanner2 from ntnu-arl, together with a new simulator utilizing a atv model from sigirdmellomseter/lonewolf

Please refer to the GBPlanner2 wiki for documentation of the planner interface and parameters.

These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.

Install necessary libraries:

ROS Noetic:

sudo apt install python3-catkin-tools \
libgoogle-glog-dev \
ros-noetic-joy \
ros-noetic-twist-mux \
ros-noetic-interactive-marker-twist-server \
ros-noetic-octomap-ros

Clone and update the required packages: (make sure to be in the root project folder: <path_to_lonewolf> )

wstool init
wstool merge dependecies_ssh.rosinstall
wstool update

Build:

catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

There are five worlds that can be simulated;

maze_world.world, simple_world.world, normal_world.world, complex_world.world and heistadmoen.world:

To run the simulator make sure you have sourced the enviornment:

~/lonewolf/devel/setup.bash

Then use the command:

roslaunch lonewolf_sim gbplanner.launch

This will run the simulator in the default world; maze_world.world. It is possible to spesify one of the other worlds when running the simulator with the world argument:

roslaunch lonewolf_sim gbplanner.launch world:="other_world_name.world"

GBPlanners original simulator can be run with the following command:

roslaunch gbplanner smb_sim.launch

If you use this work in your research, please cite the following publications from the creators of GBPlanner2:

Graph-based subterranean exploration path planning using aerial and legged robots

@article{dang2020graph,
  title={Graph-based subterranean exploration path planning using aerial and legged robots},
  author={Dang, Tung and Tranzatto, Marco and Khattak, Shehryar and Mascarich, Frank and Alexis, Kostas and Hutter, Marco},
  journal={Journal of Field Robotics},
  volume = {37},
  number = {8},
  pages = {1363-1388},  
  year={2020},
  note={Wiley Online Library}
}

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots

@INPROCEEDINGS{9812401,
  author={Kulkarni, Mihir and Dharmadhikari, Mihir and Tranzatto, Marco and Zimmermann, Samuel and Reijgwart, Victor and De Petris, Paolo and Nguyen, Huan and Khedekar, Nikhil and Papachristos, Christos and Ott, Lionel and Siegwart, Roland and Hutter, Marco and Alexis, Kostas},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
  title={Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots}, 
  year={2022},
  volume={},
  number={},
  pages={3306-3313},
  doi={10.1109/ICRA46639.2022.9812401}}