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Suggested parametrization of map floor in map_publlisher node #18

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Suggested parametrization of map floor in map_publlisher node #18

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a66cfb8
Update map_publisher.cpp
Juanzb99 Feb 19, 2024
200218e
Update swarm_exploration.launch
Juanzb99 Feb 19, 2024
d2b97e7
Update README.md
Juanzb99 Feb 19, 2024
7ad5afc
Update README.md
Juanzb99 Feb 19, 2024
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8 changes: 7 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,6 @@ We provide several sample environments, which can be selected in [swarm_explorat
```

Other examples can be found in [map_generator/resource](uav_simulator/map_generator/resource). If you want to use your own environments, simply place the .pcd files in [map_generator/resource](uav_simulator/map_generator/resource), and follow the comments above to specify it. You may also need to change the bounding box of explored space in [exploration.launch](swarm_exploration/exploration_manager/launch/single_drone_planner.xml):

```xml
<arg name="box_min_x" value="-10.0"/>
<arg name="box_min_y" value="-15.0"/>
Expand All @@ -119,6 +118,13 @@ Other examples can be found in [map_generator/resource](uav_simulator/map_genera
<arg name="box_max_y" value="15.0"/>
<arg name="box_max_z" value=" 2.0"/>
```
and the map_floor parameters in the map_publisher node in [swarm_exploration.launch](swarm_exploration/exploration_manager/launch/swarm_exploration.launch) or the exploration launch file that is going to be used to match the size of the map:
```xml
<param name="map_floor/x_min" value="-7.5" type="double"/>
<param name="map_floor/x_max" value="7.5" type="double"/>
<param name="map_floor/y_min" value="-15.0" type="double"/>
<param name="map_floor/y_max" value="15.0" type="double"/>
```

To create your own .pcd environments, you can use [this tool](https://github.com/HKUST-Aerial-Robotics/FUEL#creating-a-pcd-environment).

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10 changes: 6 additions & 4 deletions swarm_exploration/exploration_manager/launch/swarm_exploration.launch
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Expand Up @@ -8,10 +8,12 @@
<arg name="odom_prefix" value="/state_ukf/odom" />
<arg name="drone_num" value="5" />

<!-- Map generation -->
<!-- <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd">
</node> -->
<node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/pillar.pcd">
<!-- Map generation -->
<node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd">
<param name="map_floor/x_min" value="-7.5" type="double"/>
<param name="map_floor/x_max" value="7.5" type="double"/>
<param name="map_floor/y_min" value="-15.0" type="double"/>
<param name="map_floor/y_max" value="15.0" type="double"/>
</node>

<include file="$(find exploration_manager)/launch/single_drone_exploration.xml">
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33 changes: 17 additions & 16 deletions uav_simulator/map_generator/src/map_publisher.cpp
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Expand Up @@ -7,6 +7,7 @@

using namespace std;
string file_name;
double x_min, y_min, x_max, y_max;

int main(int argc, char** argv)
{
Expand All @@ -19,6 +20,11 @@ int main(int argc, char** argv)
// file_name = "/home/boboyu/workspaces/catkin_ws/src/uav_simulator/map_generator/resource/tmp.pcd";
// ros::Publisher cloud_pub = node.advertise<sensor_msgs::PointCloud2>("/pcl_render_node/local_map", 10, true);

node.param("map_pub/map_floor/x_min", x_min, -10.0);
node.param("map_pub/map_floor/x_max", x_max, 10.0);
node.param("map_pub/map_floor/y_min", y_min, -10.0);
node.param("map_pub/map_floor/y_max", y_max, 10.0);

ros::Duration(1.0).sleep();

/* load cloud from pcd */
Expand All @@ -30,25 +36,20 @@ int main(int argc, char** argv)
return -1;
}

// // Process map
// for (int i = 0; i < cloud.points.size(); ++i)
// {
// auto pt = cloud.points[i];
// pcl::PointXYZ pr;
// pr.x = pt.x;
// pr.y = -pt.z;
// pr.z = pt.y;
// cloud.points[i] = pr;
// }

for (double x = -7; x <= 7; x += 0.1)
for (double y = -15; y <= 15; y += 0.1)
/*
for (double x = -12; x <= 12; x += 0.1)
for (double y = -40; y <= 40; y += 0.1)
{
cloud.push_back(pcl::PointXYZ(x, y, 0));
}
*/

// cout << "Publishing map..." << endl;

for (double x = x_min; x <= x_max; x += 0.1)
for (double y = y_min; y <= y_max; y += 0.1)
{
cloud.push_back(pcl::PointXYZ(x, y, 0));
}

sensor_msgs::PointCloud2 msg;
pcl::toROSMsg(cloud, msg);
msg.header.frame_id = "world";
Expand All @@ -62,4 +63,4 @@ int main(int argc, char** argv)
cout << "finish publish map." << endl;

return 0;
}
}