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alang321alang321
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squashed commit, fix issues and add automated map rotation
1 parent 13e1aed commit 9aff08e

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+389
-81
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‎CMakeLists.txt

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@@ -193,6 +193,7 @@ add_library(HeuristicPartition
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add_executable(coverage_path_server src/CoveragePathServer.cpp)
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add_executable(coverage_path_test_client test/coverage_path_test_client.cpp)
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add_executable(cpp_test_integration test/cpp_test_integration.cpp)
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## Rename C++ executable without prefix
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${catkin_LIBRARIES}
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)
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target_link_libraries(cpp_test_integration
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############

‎launch/.vscode/c_cpp_properties.json

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‎launch/.vscode/settings.json

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‎launch/main.launch

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<param name = "/allocate_method" value = "DARP" />
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<param name = "/MST_shape" value = "DINIC" />
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<param name = "/free_threshold" value = "20.0" />
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<param name = "/useROSPlanner" value = "false" />
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<param name = "/coverAndReturn" value = "false" />
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<param name = "/GA_max_iter" value = "200000" />
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<param name = "/unchanged_iter" value = "2000" />
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<param name = "/hp_max_iter" value = "5000" />
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<param name = "/free_threshold" value = "0.0" /> <!-- [0; 100] 0 is free, 100 is occupied, at what point is a cell considered occpuied for cleaning after interpolation-->
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<param name = "/hp_max_iter" value = "5000" />
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<node name="coverage_path_server" pkg="TMSTC_Star" type="coverage_path_server" />
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<node name="coverage_path_server" pkg="TMSTC_Star" type="coverage_path_server" output="screen"/>
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</launch>

‎launch/test.launch

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<launch>
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<arg name="map_file" default="map.yaml"/>
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<arg name="map_file" default="barn_3.yaml"/>
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<param name = "/allocate_method" value = "DARP" />
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<param name = "/MST_shape" value = "DINIC" />
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<param name = "/GA_max_iter" value = "200000" />
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<param name = "/unchanged_iter" value = "2000" />
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<param name = "/hp_max_iter" value = "5000" />
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<param name = "/free_threshold" value = "20.0" /> <!-- [0; 100] 0 is free, 100 is occupied, at what point is a cell considered occpuied for cleaning after interpolation-->
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<param name = "/free_threshold" value = "0.0" /> <!-- [0; 100] 0 is free, 100 is occupied, at what point is a cell considered occpuied for cleaning after interpolation-->
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<param name = "/test_map_file" value = "$(arg map_file)"/>
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‎launch/test_integration.launch

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<launch>
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<arg name="map_file" default="map.yaml"/>
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<param name = "/allocate_method" value = "DARP" />
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<param name = "/MST_shape" value = "DINIC" />
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<param name = "/useROSPlanner" value = "false" />
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<param name = "/coverAndReturn" value = "false" />
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<param name = "/GA_max_iter" value = "200000" />
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<param name = "/unchanged_iter" value = "2000" />
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<param name = "/hp_max_iter" value = "5000" />
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<param name = "/free_threshold" value = "20.0" /> <!-- [0; 100] 0 is free, 100 is occupied, at what point is a cell considered occpuied for cleaning after interpolation-->
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<param name = "/test_map_file" value = "$(arg map_file)"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find TMSTC_Star)/rviz/test_integration.rviz"/>
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<node name="coverage_path_server" pkg="TMSTC_Star" type="coverage_path_server" output="screen"/>
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<node name="cpp_test_integration" pkg="TMSTC_Star" type="cpp_test_integration" output="screen"/>
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</launch>

‎map/barn_3.pgm

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‎map/barn_3.yaml

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image: barn_3.pgm
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resolution: 0.050000
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origin: [-10.000000, -10.000000, 0.000000]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196
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‎map/map.pgm

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‎map/map.yaml

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# image: map.pgm
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# resolution: 0.050000
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# origin: [-12.200000, -12.200000, 0.000000]
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# negate: 0
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# occupied_thresh: 0.65
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# free_thresh: 0.196
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#image: Real_world/Denver_2_1024.png
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image: random_20_10.pgm
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image: map.pgm
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resolution: 0.050000
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origin: [0.0, 0.0, 0.000000]
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origin: [-10.000000, -10.000000, 0.000000]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196

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