Frontier Exploration with a prior

Dependency

• Python 3.9

Check your Python version

python --version

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Install project as package

python -m pip install --no-cache git+https://github.com/ekumenlabs/Frontier-Exploration-with-a-prior.git@master

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Dev workflow

source dev.sh

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When you're done:

deactivate

FESH (Frontier Exploration Scripts Helper)

After installing the project, you will gain acces to work with the fesh commands, which will be described as follows.

Usage:

$ fesh [OPTIONS] COMMAND [ARGS]...

Options:

• --install-completion: Install completion for the current shell.
• --show-completion: Show completion for the current shell, to copy it or customize the installation.
• --help: Show this message and exit.

Commands:

• clean-file
• create-random
• create-world

clean-file

Usage:

$ clean-file [OPTIONS]

Options:

• --file TEXT: DXF file to clean. [default: test]
• --file-dir TEXT: Workspace directory. [default: .]
• --layers TEXT: Layers from DXF file to work with. [default: GAZEBO]
• --object-types TEXT: Object types from DXF file to work with. (ex. LINE, LWPOLYLINE, etc.) [default: LINE, LWPOLYLINE]
• --output-file TEXT: Cleaned file name. [default: clean_file.dxf]
• --help: Show this message and exit.

create-random

Usage:

$ create-random [OPTIONS]

Options:

• --file TEXT: DXF file to use for .world creation. [default: test]
• --output-file-dir TEXT: Directory to save Gazebo files. [default: /home/.gazebo]
• --show / --no-show: Flag for showing Gazebo world after creation. [default: False]
• --rectangles INTEGER: Rectangles used in world creation.
• --interior-rectangles INTEGER: Interior rectangles used in world creation.
• --points INTEGER: Points used in world creation (rectangles value has higher priority).
• --x-range INTEGER: Range in X axis. [default: 50]
• --y-range INTEGER: Range in Y axis. [default: 50]
• --wall-thickness FLOAT: Walls thickness. [default: 0.1]
• --wall-height FLOAT: Walls height. [default: 5]
• --cubes INTEGER: Random cubes to add inside world.
• --cube-size FLOAT: Random cubes max size.
• --help: Show this message and exit.

create-world

Usage:

$ create-world [OPTIONS]

Options:

• --file TEXT: DXF file to use for .world creation. [default: test]
• --file-dir TEXT: Workspace directory. [default: .]
• --output-file-dir TEXT: Directory to save Gazebo files. [default: /home/.gazebo]
• --show / --no-show: Flag for showing Gazebo world after creation. [default: False]
• --help: Show this message and exit.