mfkiwl/coxgraph

A multi robot collaborative dense SLAM

coxgraph

A Multi Robot Collaborative Dense Scene Reconstruction

Installation

• later

Test

Experiment CVG

1. Start up reconstruction nodes:

   You can start coxgraph clients and servers in seperate launch files, which are: coxgraph_server.launch, coxgraph_client0_cvg.launch and coxgraph_client1_cvg.launch, using these steps:

   1. open multi terminals to run roslaunchs, by tools like tmux.

   2. attach to the docker.

   3. in coxgraph catkin workspace:

      source devel/setup.bash
      

   4. run each launch file in one of terminals:

      roslaunch coxgraph coxgraph_server.launch
      roslaunch coxgraph coxgraph_client0_cvg.launch
      roslaunch coxgraph coxgraph_client1_cvg.launch
      

   or you can run a wrapped launch:

   roslaunch coxgraph run_experiment_cvg.launch
   

   in which case, you will get a load of logs in the same terminal, which is hard to debug.

2. Start corbslam nodes:

   In another terminal,

   cd <path/to/corbslam_ws>
   source devel/setup.bash
   roslaunch corbslam_client corbslam_frontend_cvg.launch
   

3. Start rviz:

   In another terminal,

   cd <path/to/coxgraph_ws>
   source devel/setup.bash
   roscd coxgraph/config
   rviz -d coxgraph.rviz
   

4. Debug:

   By adding debug<_suffix>:=true arg when starting launch files, an external xterm window will pop up with gdb running. You can refer to launch files, to look for the debug arg suffix for each node.

Gazebo Simulation Experiment

• WIP

Service

1. "coxgraph_server_node/control_trigger", see the srv file ControlTrigger.srv for definition.
2. "coxgraph_server_node/state_query", definition at StateQuery.srv