how to run this program?

[3bobo]

hi, your work is nice. thus I want to have a try . I have maked this successfully, but I'm failed to have the result as you show in ros wiki
I first
roslaunch ipa_room_segmentation room_segmentation_action_server.launch and roslaunch ipa_room_segmentation room room_segmentation_action_client.launch,
and then
roslaunch ipa_room_exploration room_exploration_action_server.launch and roslaunch ipa_room_exploration room_exploration_client.launch
but I get this:
segmentation:

exploration:

how to get the result as you show in the ros wiki page ?
thanks for your help! and Sorry for mistaking the place of this issue first time!

[Irving87]

Hello,@cuiyubo,I'm compiling this project recently,but when I Linking CXX executable catkin_ws/devel/lib/ipa_room_exploration/room_exploration_server,I have encountered some errors look like this:
flow_network_explorator.cpp:(.text+0x21f4)：‘GRBModel::addVar(double, double, double, char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)’ undefined references.
and so on .
I use Cbc-2.9.8 version and gurobi702 version for this program,but I don't konw whether it's correct version or not. So I want to ask you how did you compile ipa_room_exploration package?And which packages are needed?And thanks for your help!

楼主您好，我在编译ipa_room_exploration这个包的时候遇到了一些问题想请教你一下。我在链接room_exploration_server可执行文件的时候遇到了关于GRBModel一些未定义引用的问题，看起来像是一些lib没有链接上。我用的是Cbc-2.9.8版本的包还有gurobi 702版本的包来进行编译的，Cbc-2.9.8我没有安装在urs/目录下面，而是在外部编译，修改了PKG_CONFIG_PATH变量导入，gurobi是安装在了opt文件夹下面。所以我想请教你一下：你是用了哪些版本的包进行编译的呢？具体的安装位置是什么地方呢？希望能够得到您的指点，不胜感谢！！

[3bobo]

@Irving87 I'm sorry to tell you that I gave up using this code long ago, and I even deleted them from my computer. I just remember that I built them in a workspace for catkin, and used sudo apt-get install XXX if something was missing. I used indigo branch if I‘m not mistaken, and the package was in catkin_ws/src/.

[Irving87]

@3bobo Thank you for your reply, these information may be very useful to me,thanks a lot!

[daalexan]

Hello, I wanna ask you about ipa_room_exploration, I started server and client, after that, I got generated path and it was shown in Rviz like on the picture.

The path appeared in Rviz but the robot doesn't move. So how can I launch moving a robot? And did you solve the problem, that the path going through the unknown area?

[daalexan]

Hello,@cuiyubo,I'm compiling this project recently,but when I Linking CXX executable catkin_ws/devel/lib/ipa_room_exploration/room_exploration_server,I have encountered some errors look like this:
flow_network_explorator.cpp:(.text+0x21f4)：‘GRBModel::addVar(double, double, double, char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)’ undefined references.
and so on .
I use Cbc-2.9.8 version and gurobi702 version for this program,but I don't konw whether it's correct version or not. So I want to ask you how did you compile ipa_room_exploration package?And which packages are needed?And thanks for your help!
楼主您好，我在编译ipa_room_exploration这个包的时候遇到了一些问题想请教你一下。我在链接room_exploration_server可执行文件的时候遇到了关于GRBModel一些未定义引用的问题，看起来像是一些lib没有链接上。我用的是Cbc-2.9.8版本的包还有gurobi 702版本的包来进行编译的，Cbc-2.9.8我没有安装在urs/目录下面，而是在外部编译，修改了PKG_CONFIG_PATH变量导入，gurobi是安装在了opt文件夹下面。所以我想请教你一下：你是用了哪些版本的包进行编译的呢？具体的安装位置是什么地方呢？希望能够得到您的指点，不胜感谢！！

@Irving87 Have you solved the problem about GOROBI? I met the same error with u

Hello, I had a problem with Cbc library, I tried to install it like third-party lib.
I solved this problem, just installed this lib from ubuntu pack, you can try these commands:
sudo apt-get install coinor-libcoinutils-dev
sudo apt-get install coinor-libclp-dev
sudo apt-get install coinor-libcbc-dev
sudo apt-get install coinor-libcgl-dev

sudo apt-get install ros-kinetic-cob-extern

roslaunch ipa_room_exploration room_exploration_action_server.launch
rosrun ipa_room_exploration room_exploration_client

[XYZ-qiyh]

@daalexan Thank you for the answer. My previous question was that I haven't installed the ros-kinetic-cob-extern. Thanks a lot !
By the way, which version of OpenCV do you use?

[daalexan]

OpenCV version 2.4.9.1

[qiyh1037]

Hello, I wanna ask you about ipa_room_exploration, I started server and client, after that, I got generated path and it was shown in Rviz like on the picture.

The path appeared in Rviz but the robot doesn't move. So how can I launch moving a robot? And did you solve the problem, that the path going through the unknown area?

Hi, I got the path after I run the ipa_room_exploration. I wanna know that how to show the path I got in Rviz?

[daalexan]

Hello, I wanna ask you about ipa_room_exploration, I started server and client, after that, I got generated path and it was shown in Rviz like on the picture.

The path appeared in Rviz but the robot doesn't move. So how can I launch moving a robot? And did you solve the problem, that the path going through the unknown area?

Hi, I got the path after I run the ipa_room_exploration. I wanna know that how to show the path I got in Rviz?

Hi, at first I launched Rviz and add to Displays window Path, after that you should choose the topic which was generated by ipa_room_exploration and start ipa_room_exploration, the path will appear in Rviz.
You can launch ipa_room_exploration and check which topic it generated after that add that topic to Rviz.

[ipa-rmb]

I think moving the robot should work (at least worked for a colleague who used a robot with standard move base interface) when activating this option:

autopnp/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml

Line 34 in b432c80

execute_path: false

Otherwise, take the returned path from the response message and execute it with your robot.

[ipa-rmb]

For the displayed path in RViz I guess, that the lines through occupied space just connect two path points before and after the occupied area with a straight line, so this is just a problem of visualization, not path planning.

[qingchunlizhi]

Hello,@cuiyubo,I'm compiling this project recently,but when I Linking CXX executable catkin_ws/devel/lib/ipa_room_exploration/room_exploration_server,I have encountered some errors look like this:
flow_network_explorator.cpp:(.text+0x21f4)：‘GRBModel::addVar(double, double, double, char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)’ undefined references.
and so on .
I use Cbc-2.9.8 version and gurobi702 version for this program,but I don't konw whether it's correct version or not. So I want to ask you how did you compile ipa_room_exploration package?And which packages are needed?And thanks for your help!
楼主您好，我在编译ipa_room_exploration这个包的时候遇到了一些问题想请教你一下。我在链接room_exploration_server可执行文件的时候遇到了关于GRBModel一些未定义引用的问题，看起来像是一些lib没有链接上。我用的是Cbc-2.9.8版本的包还有gurobi 702版本的包来进行编译的，Cbc-2.9.8我没有安装在urs/目录下面，而是在外部编译，修改了PKG_CONFIG_PATH变量导入，gurobi是安装在了opt文件夹下面。所以我想请教你一下：你是用了哪些版本的包进行编译的呢？具体的安装位置是什么地方呢？希望能够得到您的指点，不胜感谢！！

@Irving87 Have you solved the problem about GOROBI? I met the same error with u

Hello, I had a problem with Cbc library, I tried to install it like third-party lib.
I solved this problem, just installed this lib from ubuntu pack, you can try these commands:
sudo apt-get install coinor-libcoinutils-dev
sudo apt-get install coinor-libclp-dev
sudo apt-get install coinor-libcbc-dev
sudo apt-get install coinor-libcgl-dev

sudo apt-get install ros-kinetic-cob-extern

roslaunch ipa_room_exploration room_exploration_action_server.launch
rosrun ipa_room_exploration room_exploration_client

Hello,@cuiyubo,I'm compiling this project recently,but when I Linking CXX executable catkin_ws/devel/lib/ipa_room_exploration/room_exploration_server,I have encountered some errors look like this:
flow_network_explorator.cpp:(.text+0x21f4)：‘GRBModel::addVar(double, double, double, char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)’ undefined references.
and so on .
I use Cbc-2.9.8 version and gurobi702 version for this program,but I don't konw whether it's correct version or not. So I want to ask you how did you compile ipa_room_exploration package?And which packages are needed?And thanks for your help!
楼主您好，我在编译ipa_room_exploration这个包的时候遇到了一些问题想请教你一下。我在链接room_exploration_server可执行文件的时候遇到了关于GRBModel一些未定义引用的问题，看起来像是一些lib没有链接上。我用的是Cbc-2.9.8版本的包还有gurobi 702版本的包来进行编译的，Cbc-2.9.8我没有安装在urs/目录下面，而是在外部编译，修改了PKG_CONFIG_PATH变量导入，gurobi是安装在了opt文件夹下面。所以我想请教你一下：你是用了哪些版本的包进行编译的呢？具体的安装位置是什么地方呢？希望能够得到您的指点，不胜感谢！！

@Irving87 Have you solved the problem about GOROBI? I met the same error with u

Hello, I had a problem with Cbc library, I tried to install it like third-party lib.
I solved this problem, just installed this lib from ubuntu pack, you can try these commands:
sudo apt-get install coinor-libcoinutils-dev
sudo apt-get install coinor-libclp-dev
sudo apt-get install coinor-libcbc-dev
sudo apt-get install coinor-libcgl-dev

sudo apt-get install ros-kinetic-cob-extern

roslaunch ipa_room_exploration room_exploration_action_server.launch
rosrun ipa_room_exploration room_exploration_client
I have run these commands, and this is the version of these packages:

But I still get many errors like this when I run :cathin_make

flow_network_explorator.cpp:(.text+0x21f4)：‘GRBModel::addVar(double, double, double, char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)’ undefined references.

what's your version of these packages?
And the CMakeList.txt shows:
Important note: the order of the libraries when linking your executable is important, if it is wrong you get undefined references
what's your order of the libraries?

[SidharthSitimalle]

How to install the package in linux?
when i run roslaunch ipa_room_segmentation room_segmentation_action_server.launch
its showing an error that ipa_room_segmentation package is not available
ipa_room_exploration

[ipa-rmb]

Dear Sidharth,

We have moved our packages to the repository https://github.com/ipa320/ipa_coverage_planning which should also work well with current ROS versions. Please try that one out whether it works for you.

Thanks and best regards,
Richard

[WafaAbid1]

ipa_room_segmentation room room_segmentation_action_client.launch
I am stuck in trying to change the map, can you help me with that?

[ipa-rmb]

The client is just an example, it is not meant that you use it for regular operation. There you send service requests to the server which e.g. could just access the map server's /map topic directly. However, the client gives you code that shows how you can do that: https://github.com/ipa320/ipa_coverage_planning/blob/noetic_dev/ipa_room_segmentation/ros/src/room_segmentation_client.cpp
If you like to play around with it and want to use other maps, you need to provide your maps as image in this folder: https://github.com/ipa320/ipa_coverage_planning/tree/noetic_dev/ipa_room_segmentation/common/files/test_maps and then you need to provide the respective file names inside the code of the client, because the folder originally just contained the official test set that is not meant to be changed. So file names are currently hardcoded in the sample client.