Voronoi graph extraction for the TurtleBot3 house environment has been implemented using the tuw_voronoi_graph package in ROS 1 Noetic system.
The packages slam, navigation, and description should be utilized from the turtlebot3 address.
The following adjustments should be made for these packages in the following order:
mkdir -p ~/tmap/src
cd ~/tmap/src
git init
git remote add -f origin https://github.com/ROBOTIS-GIT/turtlebot3.git
git config core.sparseCheckout true
echo "turtlebot3_description" >> .git/info/sparse-checkout
echo "turtlebot3_navigation" >> .git/info/sparse-checkout
echo "turtlebot3_slam" >> .git/info/sparse-checkout
git pull origin master
rm -r .gitTo create the topological map, the tuw_multi_robot/tuw_voronoi_graph package will be used. Requirements for the tuw_multi_robot package:
sudo apt install libdxflib-dev
export ROS_VERSION=kinetic # for Ubuntu 16.04
export ROS_VERSION=melodic # for Ubuntu 18.04
export ROS_VERSION=noetic # for Ubuntu 20.04sudo apt install ros-$ROS_VERSION-map-server
sudo apt install ros-$ROS_VERSION-stage-rosexport MRRP_DIR=$HOME/projects/catkin/tuw_multi_robot/
mkdir -p $MRRP_DIR/src
cd $MRRP_DIR/src
git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_multi_robot.git
git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_geometry.git
git clone git@github.com:tuw-robotics/tuw_msgs.git Modification of the description and navigation packages:
sudo nano turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.064 0 0.2" rpy="0 0 0"/> <!-- only this line-->
</joint>sudo nano turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro<gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(arg laser_visual)</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0.0</min_angle>
<max_angle>6.28319</max_angle>
</horizontal>
</scan>
<range>
<min>0.120</min>
<max>15</max> <!-- only this line-->
<resolution>0.015</resolution>
</range>nano turtlebot3_navigation/launch/move_base.launchEnsure that DWA planners are installed as given below
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
</node>Starting the simulation environments
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch
roslaunch turtlebot3_navigation move_base.launchInstallation of the topological_map repository and launching of the node:
cd ~/tmap/src
git clone https://github.com/fbasatemur/topological_map.git
mv topological_map-main/tuw_voronoi_graph .
rm -r topological_map-main
cd ..
catkin_make
source devel/setup.bash
rosrun tuw_voronoi_graph tuw_voronoi_graph_node
# or ./devel/lib/tuw_voronoi_graph/tuw_voronoi_graph_nodeThe Voronoi map calculated using the tuw_voronoi_graph package is published in the sensor_msgs format via the publishVoronoiMap method on the voronoi_mapping_node topic.
void publishVoronoiMap(cv::Mat& voronoi_map){
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "mono8", voronoi_map).toImageMsg();
voronoi_map_pub.publish(*msg);
}
