coverage_control

Requirements

• Ubuntu22.04
• ROS2 Humble
• Python3.10

Installation

cd ~/ros2_ws/src/coverage_control
python3 -m pip install -r requirements/lib.txt
rosdep install -i -y --from-paths .

sudo python -m pip install -r requirements/tools.txt

Usage

simple coverage control

You can select the following parameter through the launch argument:

• dimension of the field: {1,2,3}
• number of agents: {1,2,3,4,5}
• initial density function(phi) type: {1: Uniform, 2: Gaussian, 3: Disk}

ros2 launch coverage_control scc.launch dim:={1,2,3} num:={1,2,3,4,5} phi:={1,2,3}

rviz

By adjusting the launch files and the checkboxes in the rviz panels, the density map(phi) and the sensing region(sr) of each agent can be drawn as Marker and Pointcloud2 respectively, as shown below.

rqt_graph

persistent coverage control(pcc-devel branch)

ros2 launch coverage_control pcc.launch dim:={1,2,3} agent_num:={1,2,3,4,5}

rviz

Tools

Format

• isort
• black

task fmt

Lint

• black
• ruff

task lint

mypy

• mypy

task mypy