Environment Setup

1. CMU Environment

• Official site: cmu-exploration.com
• To download the simulation environments (~500MB), run:

  ./data/cmu_environment/download_environments.sh
  

• If the script fails, you can manually download the environments from here and unzip them into ./data/cmu_environment/.

2. Matterport Environment

• Follow these instructions from the official site to set up the Matterport environment.
• Place all downloaded files into the corresponding environment directory. For example, for the environment ID 17DRP5sb8fy, use:

  data/matterport/17DRP5sb8fy/navigation_environment/
    meshes/
    preview/
    segmentations/
  

Usage

1. Launch Matterport 17DRP5sb8fy

roslaunch environment/launch/system_17DRP5sb8fy.launch useLocalPlanner:=true use_rviz:=true
python cmu_autonomous_exploration_development/src/segmentation_proc/scripts/habitat_online_v0.2.1.py

2. Run iPlanner

roslaunch benchmark_visual_nav iplanner.launch config:=anymal use_rviz:=true rviz_name:=anymal

Troubleshooting

• You may safely ignore the ROS warning: Spawn service failed. Exiting.