• added the new goal assignment function for the robot.
• new RRT growing features and increase the collisin avoidane function for the data
• new map filtering function (may filter more points resulting less frontier for the robot to travel)

• download the local RRT from the src file and update each jackal. Remember to catkin_make /
• download the global RRT for the server pc and catkin_make it.

1. Download the RRT folders and files, and place them into the catkin_ws directory

    $ git clone [email protected]:hikashi/single_robot_rrt.git
   

2. add in the piece of the following code into the robot init launch file after downlaod the RRT file

       <arg name="eta" value="1.0"/>
       <arg name="first_robot" value="robot_1"/>
       
       <node pkg="rrt_exploration" type="local_rrt_detector" name="$(arg first_robot)_rrt_detector" output="screen">
         <param name="eta" value="$(arg eta)"/>
         <param name="map_topic" value="/$(arg first_robot)/map"/>
         <param name="robot_frame" value="/$(arg first_robot)/base_link"/>
       </node>
   

Topic published for the local RRT

• /detected_points
• /robot_namespace+"_shapes" (** for visualization purposes)

1. Download RRT folder into the WS environment

    git clone [email protected]:hikashi/global_robot_rrt.git
   

2. modify the parameters of the launch file.

    duo_jackal_exploration.launch
   

3. run the launch file

    roslaunch rrt_exploration duo_jackal_exploration.launch 
   

4. click the 4 points to start exploration.

    The exploration relies on the correct sequence else rendering with no goal for each of the robot.
    1. Top Left
    2. Bottom Left
    3. Bottom Right
    4. Top Right
    5. Initial Point
   

• allow the topics within the multimaster (detected_points).
• add some of the marker topic sent by the individual robot.
• visualization of the RRT at the RVIZ before executing the actual RRT exploration.