Is there anyone will fix the tsp problem?

[xinwf]

The tsp algorithm still has problem, will anyone will solve it?

[AhmedDhahri]

It is here https://github.com/ipa320/ipa_tsp_solvers
It worked for me

[KamalanathanN]

@AhmedDhahri Did it work for ROS Melodic ?

[AhmedDhahri]

@KamalanathanN They have a newer version that works on ROS melodic
https://github.com/ipa320/ipa_coverage_planning/tree/melodic_dev

[KamalanathanN]

@AhmedDhahri Yes i am currently trying to implement the ipa_coverage_planning with the ipa's cob_robot , inside cob_simulation
ROBOT=raw3-3 and ROBOT_ENV=ipa-apartment
my commands in order are :

roslaunch cob_bringup_sim robot.launch
roslaunch cob_navigation_global 2dnav_ros_dwa.launch
roslaunch cob_navigation_global rviz.launch
roslaunch ipa_room_exploration room_exploration_action_server.launch
roslaunch ipa_room_exploration room_exploration_client.launch

I get the path generated for ipa-apartment in rviz but its not correctly alinged with the map.
as shown below:

also i have editied the yaml file as mentioned in ##12 (comment)
so its supposed to follow the path generated but it's not executing the generated path.
what am i missing here :(

[eejacky]

@KamalanathanN They have a newer version that works on ROS melodic
https://github.com/ipa320/ipa_coverage_planning/tree/melodic_dev

can you build this version(ipa_coverage_planning-melodic_dev)?
I build with this version ,has some problems.
i build step:
mkdir ~/ros_ws/src
cd ~/ros_ws/src
catkin_init_workspace
cd ~/ros_ws
catkin_make
cd src
git clone https://github.com/ipa320/ipa_coverage_planning.git
git clone https://github.com/ipa320/cob_extern.git
git clone https://github.com/ipa320/cob_perception_common.git

cd ..
catkin_make
executing catkin_make,i get some error:
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"cob_map_accessibility_analysis" with any of the following names:

cob_map_accessibility_analysisConfig.cmake
cob_map_accessibility_analysis-config.cmake

Add the installation prefix of "cob_map_accessibility_analysis" to
CMAKE_PREFIX_PATH or set "cob_map_accessibility_analysis_DIR" to a
directory containing one of the above files. If
"cob_map_accessibility_analysis" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
ipa_coverage_planning-melodic_dev/ipa_room_exploration/CMakeLists.txt:33 (find_package)

-- Configuring incomplete, errors occurred!

[KamalanathanN]

have you installed cob_map_accessibility_analysis ?

sudo apt install ros-melodic-cob-map-accessibility-analysis

also try cloning:
https://github.com/KamalanathanN/ipa_coverage_planning/tree/melodic_dev
i've made small changes and it compiled on melodic.

now im using ros noetic, to test it out in noetic
try cloning @AhmedDhahri's repo:
https://github.com/AhmedDhahri/ipa_coverage_planning
when i remove the uqtr_room_decomposition package it compiles fine.