Unreachable repositories

[conde-ISR-UC-PT]

While running
wstool up -j 4

it get stuck in a never ending loop:
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active

performing wstool update I get the following messages:

/catkin_ws/src$ wstool update
[augmented_robot_trackers] Fetching [email protected]:cras/subt/common/augmented_robot_trackers.git (version master) to /home/rob/catkin_ws/src/augmented_robot_trackers
Cloning into '/home/rob/catkin_ws/src/augmented_robot_trackers'...
[email protected]'s password:
Permission denied, please try again.
[email protected]'s password:

Theferore I went through dependencies.rosinstall, and I realize it is not possible to access the following git repositories:

- git:
    local-name: cras_gps_odom
    uri: [email protected]:cras/subt/common/cras_imu_tools.git
    version: master

- git:
    local-name: augmented_robot_trackers
    uri: [email protected]:cras/subt/common/augmented_robot_trackers.git
    version: master

- git:
    local-name: cras_imu_tools
    uri: [email protected]:cras/subt/common/cras_imu_tools.git
    version: master

Can you please put them publicly available in github?

[peci1]

Can you please put them publicly available in github?

• augmented_robot_trackers - no, doesn't make sense, it is too much specific for our robots; just comment out any usage of this package in launch files and they will work fine
• cras_gps_odom - maybe, no ETA
• cras_imu_tools - this is planned, but no ETA

Generally, we want to publicize code that is somewhat cleaned up and ready for general use outside our lab. Those 3 packages do not yet stand to this standard. This package (robingas_mission_gazebo) is kind of exception to this rule, it was developed on github from the start for some internal reasons. But it was definitely not developed with usage outside our lab in mind.

What is your goal with this package? Maybe there is a way around.

[conde-ISR-UC-PT]

We want to test a local planner for the "traversability estimation" package.

[peci1]

I'm inviting @RuslanAgishev into the discussion as he is the author of traversability estimation.

[RuslanAgishev]

Hi. As it was mentioned, at the moment we are not ready to make all the dependencies for the navigation pipeline public. However, it is possible to run the traversability estimation ROS node (with the other publicly available packages) separately. One can do the following to test the traversability estimation based on semantic segmentation of point clouds. Download the network weights as mentioned in the traversability_estimation documentation. Then run the simulator and traversability estimation:

roslaunch robingas_mission_gazebo husky_gazebo.launch

roslaunch traversability_estimation semantic_traversability.launch input:=/points

You should be able then to access the traversability map published to the /semantic_traversability topic. For each point in a cloud the pre-trained CNN assigns costs in 0..1 range (higher means less traversable). This representation could be used for path planning.

[conde-ISR-UC-PT]

Thanks, we manage to put it working. If we find it suitable for our purposes do you have a paper, regarding "traversability estimation", that we can cite?

[RuslanAgishev]

Glad to hear! One option is to cite the paper: Trajectory Optimization Using Learned Robot-Terrain Interaction Model in Exploration of Large Subterranean Environments. There is a section describing the geometric traversability estimation method which is implemented inside the naex ROS package.
At the moment we did not describe in a paper the traversability estimation method using the CNN approach.