exploration_planner¶
Frontier-based geometric exploration global planner — OpenVDB occupancy map, frontier clustering, bounded viewpoint sampling and an RRT path to the chosen viewpoint, published as global_plan; developed for the CMU AirLab construction-site project
| Repository | castacks/asm_exploration_planner |
| Type | ros_package |
| Maintainer | ajong@andrew.cmu.edu |
| License | BSD-3-Clause-Clear |
| Registered ref | v0.1.1 |
| Declared compat | >=0.21.0-dev.8 <0.22.0 |
| Registry entry | modules/exploration_planner.yaml |
Install¶
From an AirStack checkout (AirStack Modules guide):
airstack module add https://github.com/castacks/asm_exploration_planner --version v0.1.1
airstack up
module add pins the module in modules.repos and syncs it into the
gitignored modules/ overlay; airstack up automatically includes the
generated compose override that mounts it into the containers.
Compatibility: declared vs verified¶
The range >=0.21.0-dev.8 <0.22.0 is DECLARED by the module author
(copied from the module's module.yaml). The VERIFIED record — rows
stamped exclusively by CI runs of the reusable
module-system-tests workflow — lives in the
registry's compat/ matrix
(compat/exploration_planner.yaml once stamped).
A compatibility claim that isn't CI-verified rots: trust the
matrix, read the declaration as intent.
Documentation¶
- Module README on GitHub @
v0.1.1 - The module repo was not fetched when this page was generated — the links above go to GitHub at the registered ref (failure isolation: an unreachable module repo never fails the docs deploy).
Registered stacks using this module¶
Registry notes¶
Extracted from trunk (robot/ros_ws/src/global/planners/exploration, history preserved) together with the bounded-exploration additions from the construction-site demo branch. Publishes a path on global_plan and serves the behavior/global_plan_toggle service; the MIGHTY bridge (full_exploration) follows the published plan directly, while droan_gl-based stacks add the trunk global_plan_navigate_bridge. Consumed by trunk reference stack full_exploration.