ipa_coverage_planning

Algorithms for floor plan segmentation and systematic coverage driving patterns.

If you find this software useful in your work, please cite our corresponding papers:

• R. Bormann, F. Jordan, W. Li, J. Hampp, and M. Hägele. Room Segmentation: Survey, Implementation, and Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. https://ieeexplore.ieee.org/abstract/document/7487234 , https://publica.fraunhofer.de/entities/publication/0bf23149-75d5-4601-bfce-992d91698862/details
• R. Bormann, F. Jordan, J. Hampp, and M. Hägele. Indoor coverage path planning: Survey, implementation, analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1718–1725, May 2018. https://ieeexplore.ieee.org/abstract/document/8460566 , https://publica.fraunhofer.de/entities/publication/f537c15d-4cbe-4672-9d86-6e756a9ce71b/details

ROS Distro Support

Travis - Continuous Integration

Status:

Quick start

1. Bring up your robot or launch the turtlebot3 simulation

2. Start the room exploration action server:

   roslaunch ipa_room_exploration room_exploration_action_server.launch
   

3. Start the room exploration action client:

   roslaunch ipa_room_exploration room_exploration_client.launch  robot_env:=your-robot-env use_test_maps:=false