Data 1 (moving between two floors; stairs and an elevator)
- Our code depends on ROS, Ceres, GTSAM, thus please install those prerequisites before installing MuNES.
mkdir -p ~/munes_ws/src
cd ~/munes_ws/src
git clone git@github.com:donghwijung/MuNES.git
cd ../
catkin_make
source ~/munes_ws/devel/setup.bash
roslaunch munes run.launch
rosbag play data_1.bag
-
To proceed the trajectory planning, a pcd file containing ground points of the multi-floor map is necessary.
-
The ground map can be obtained from the mapping process.
-
If you want to skip the mapping process, you can download pcd file and move the downloaded file to the directory /pcd in this repository.
- We tested MuNES with python 3.8.
pip install -r requirements.txt
cd planning
python munes.py
cd planning
python munes_wo_map.py
@article{jung2024munes,
title={MuNES: Multifloor Navigation Including Elevators and Stairs},
author={Jung, Donghwi and Kim, Chan and Cho, Jae-Kyung and Kim, Seong-Woo},
journal={arXiv preprint arXiv:2402.04535},
year={2024}
}
The code in this repository is based on A-LOAM, SC-A-LOAM, and PathPlanning. Thanks to the authors of those codes.
Copyright 2024, Donghwi Jung, Chan Kim, Jae-Kyung Cho, and Seong-Woo Kim, Autonomous Robot Intelligence Lab, Seoul National University.
This project is free software made available under the MIT License. For details see the LICENSE file.