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‎.github/workflows/main.yml

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name: CI
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on: [push, pull_request]
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jobs:
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industrial_ci:
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: melodic, ROS_REPO: main, UPSTREAM_WORKSPACE: 'github:nobleo/mobile_robot_simulator#fix/install github:nobleo/tracking_pid#master'}
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v1
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}

‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(full_coverage_path_planner)
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add_compile_options(-std=c++11)
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find_package(catkin REQUIRED
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COMPONENTS
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base_local_planner
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costmap_2d
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nav_core
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pluginlib
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roscpp
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roslint
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rostest
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tf
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)
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include_directories(
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include
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test/include
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${catkin_INCLUDE_DIRS}
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)
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add_definitions(${EIGEN3_DEFINITIONS})
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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base_local_planner
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costmap_2d
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nav_core
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pluginlib
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roscpp
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)
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add_library(${PROJECT_NAME}
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src/common.cpp
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src/${PROJECT_NAME}.cpp
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src/spiral_stc.cpp
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)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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install(TARGETS
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${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(FILES fcpp_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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catkin_install_python(
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PROGRAMS
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nodes/coverage_progress
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(test_common test/src/test_common.cpp test/src/util.cpp src/common.cpp)
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catkin_add_gtest(test_spiral_stc test/src/test_spiral_stc.cpp test/src/util.cpp src/spiral_stc.cpp src/common.cpp src/${PROJECT_NAME}.cpp)
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add_dependencies(test_spiral_stc ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(test_spiral_stc ${catkin_LIBRARIES})
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find_package(OpenCV)
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include_directories(${OpenCV_INCLUDE_DIRS})
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target_link_libraries(test_spiral_stc ${OpenCV_LIBRARIES})
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add_rostest(test/${PROJECT_NAME}/test_${PROJECT_NAME}.test)
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endif()
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roslint_cpp()

‎README.md

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# Full Coverage Path Planner (fcpp)
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## Overview
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This package provides an implementation of a Full Coverage Path Planner (fcpp) using the Backtracking Spiral Algorithm (BSA), see [1].
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This packages acts as a global planner plugin to the Move Base Flex package (http://wiki.ros.org/move_base_flex).
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![BSA](doc/fcpp_robot_0_5m_plus_tool_0_2m.png)
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The user can configure robot radius and tool radius separately:
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![robot_plus_tool](doc/robot_plus_tool.png)
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**Keywords:** coverage path planning, move base
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### License
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Apache 2.0
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**Author(s): Yury Brodskiy, Ferry Schoenmakers, Tim Clephas, Jerrel Unkel, Loy van Beek, Cesar lopez**
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**Maintainer: Cesar Lopez, cesar.lopez@nobleo.nl**
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**Affiliation: Nobleo Projects BV, Eindhoven, the Netherlands**
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The Full Coverage Path Planner package has been tested under [ROS] Melodic and Ubuntu 18.04.
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[Build status](https://bitbucket.org/nobleo/full_coverage_path_planner/addon/pipelines/home#!/results)
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## Installation
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### Building from Source
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#### Dependencies
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- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
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- [Move Base Flex (MBF)](http://wiki.ros.org/move_base_flex) (Move base flex node)
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#### Building
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To build from source, clone the latest version from this repository into your workspace and compile the package using
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cd catkin_workspace/src
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git clone https://bitbucket.org/nobleo/full_coverage_path_planner.git
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cd ../
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catkin_make
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### Unit Tests
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All tests can be run using:
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catkin build tracking_pid --catkin-make-args run_tests
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#### test_common
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Unit test that checks the basic functions used by the repository
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#### test_spiral_stc
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Unit test that checks the basis spiral algorithm for full coverage. The test is performed for different situations to check that the algorithm coverage the accessible map cells. A test is also performed in randomly generated maps.
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#### test_full_coverage_path_planner.test
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ROS system test that checks the full coverage path planner together with a tracking pid. A simulation is run such that a robot moves to fully cover the accessible cells in a given map.
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## Usage
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Run a full navigation example using:
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roslaunch full_coverage_path_planner test_full_coverage_path_planner.launch
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Give a 2D-goal in rviz to start path planning algorithm
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Depends on:
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[mobile_robot_simulator](https://github.com/mrath/mobile_robot_simulator.git) that integrates /cmd_vel into a /base_link TF-frame and an odometry publisher
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[tracking_pid](https://bitbucket.org/nobleo/tracking_pid/) Global path tracking controller
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## Launch files
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### test/full_coverage_path_planner/test_full_coverage_path_planner.launch
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Runs the full_coverage_path_planner global planner in combination with tracking PID local planner.
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Moreover a coverage progress tracking node is launched to monitor the coverage progress.
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Mobile_robot_simulator is used to integrate cmd_vel output into TF and odometry.
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Arguments:
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* **`navigation`**: move_base_flex. Default: `move_base_flex`
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* **`tracking_pid_mode`**: node / plugin. Default: `node`
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* **`map`**: path to a global costmap. Default: `$(find full_coverage_path_planner)/maps/basement.yaml)`
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* **`target_x_vel`**: target x velocity for use in interpolator. Default: `0.2`
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* **`target_yaw_vel`**: target yaw velocity for use in interpolator. Default: `0.2`
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* **`robot_radius`**: radius of the robot for use in the global planner. Default: `0.6`
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* **`tool_radius`**: radius of the tool for use in the global planner. Default: `0.2`
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Start planning and tracking by giving a 2D nav goal.
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## Nodes
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### coverage_progress
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The CoverageProgressNode keeps track of coverage progress. It does this by periodically looking up the position of the coverage disk in an occupancy grid. Cells within a radius from this position are 'covered'
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#### Subscribed Topics
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* **`/tf`** ([tf2_msgs/TFMessage])
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ros tf dynamic transformations
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* **`/tf_static`** ([tf2_msgs/TFMessage])
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ros tf static transformations
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#### Published Topics
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* **`/coverage_grid`** ([nav_msgs/OccupancyGrid])
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occupancy grid to visualize coverage progress
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* **`/coverage_progress`** ([std_msgs/Float32])
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monitors coverage (from 0 none to 1 full) on the given area
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#### Services
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* **`/coverage_progress/reset`** ([std_srvs/SetBool])
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resets coverage_progress node. For instance when robot position needs to be manually updated
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#### Parameters
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* **`target_area/x`**: size in x of the target area to monitor
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* **`target_area/y`**: size in y of the target area to monitor
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* **`coverage_radius`**: radius of the tool to compute coverage progress
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## Plugins
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### full_coverage_path_planner/SpiralSTC
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For use in move_base(\_flex) as "base_global_planner"="full_coverage_path_planner/SpiralSTC". It uses global_cost_map and global_costmap/robot_radius.
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#### Parameters
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* **`robot_radius`**: robot radius, which is used by the CPP algorithm to check for collisions with static map
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* **`tool_radius`**: tool radius, which is used by the CPP algorithm to discretize the space and find a full coverage plan
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## References
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[1] GONZALEZ, Enrique, et al. BSA: A complete coverage algorithm. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE, 2005. p. 2040-2044.
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## Bugs & Feature Requests
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Please report bugs and request features using the [Issue Tracker](https://bitbucket.org/nobleo/full_coverage_path_planner/src/develop/).
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[ROS]: http://www.ros.org
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[rviz]: http://wiki.ros.org/rviz
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[MBF]: http://wiki.ros.org/move_base_flex

‎bitbucket-pipelines.yml

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image: docker:18-git
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pipelines:
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default:
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- step:
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services:
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- docker
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script:
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- apk add --update bash coreutils tar
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- git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
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- .industrial_ci/bitbucket.sh ROS_DISTRO=melodic UPSTREAM_WORKSPACE='github:nobleo/mobile_robot_simulator#fix/install github:nobleo/tracking_pid#master'
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definitions:
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services:
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docker:
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memory: 2048

‎doc/bsa.png

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‎doc/fcpp_robot_0_5m_plus_tool_0_2m.png

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‎doc/fcpp_robot_0_5m_plus_tool_0_5m.png

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