Unlocking Full Exploration Potential of Ground Robots: Extracting Comprehensive Frontiers within Locomotion Limits.
Our paper is currently under review, and the code of UFEP will be released as our work is accepted.
These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.
Install necessary libraries:
- grid_map (grid map library for mobile robots)
sudo apt-get install ros-noetic-grid-map-core ros-noetic-grid-map-msgs- elevation_mapping_cupy The test_carved_stair branch is used in my experiment and the original elevation_mapping_cupy also can be used.
- vrmapping_msgs The msg and srv files which would be in cluded into this pack in the future.
- vrmapping_ui The ui files which would be in cluded into this pack in the future.
mkdir -p mmapping_ws/src/
git clone git@github.com:YinghaoJia98/UFEP_Released.git
catkin build -DCMAKE_BUILD_TYPE=Release
The robots used in simulator is reorganized from GBP and UnitreeA1. Benifiting from the robotics community and we choose to make our work public.
- Yinghao Jia
- Wei Tang