Elevators and Multifloor Navigation

asked 2012-02-01 03:22:25 -0600

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

updated 2014-11-22 17:05:42 -0600

ngrennan
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Is the JSK/TUM code to use an elevator and navigate on multiple floors available anywhere?

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answered 2012-02-02 23:47:04 -0600

manabu
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I am a developer of navigation system with taking elevators in JSK.

The codes are in jsk-ros-pkg (http://jsk-ros-pkg.svn.sourceforge.net/), and the main package is elevator_move_base_pr2. We are using Euslisp programming language for describing procedure of taking elevator and geometrical elevator call button models.

And navigating between multiple maps, we have to change grid map in move_base and amcl. These scripts are in jsk_maps package.

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Thank you! In case anyone else is looking, the package multi_map_server is under the jsk_ros_patch folder.

David Lu ( 2012-02-03 03:03:27 -0600 )edit

Thanks to sourceforge weirdness, one needs to look at http://sourceforge.net/projects/jsk-ros-pkg/ and then the tab "Code", not the tab "Files".

KruseT ( 2013-08-02 04:59:04 -0600 )edit

Looks like the jsk code repo has moved to github.

130s ( 2016-12-02 20:50:43 -0600 )edit

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answered 2012-02-01 07:25:54 -0600

michikarg
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I am not exactly sure which code you mean, but my colleague Lars Kunze (TUM) recently did an internship at JSK and was involved in the Subway-Sandwich-Demo that involved an elevator. I´m pretty sure, he can help you...

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answered 2012-02-01 03:43:57 -0600

DimitriProsser

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Although it's not the JSK/TUM code, Eitan Marder-Eppstein, Kurt Konolige, and Bhaskara Marthi cover this topic in their paper. There is an implementation of this here.

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That paper seems to only mention the possibility of using it for multi-floor navigation, specifically for parking garages, where you have ramps that go from floor to floor.

David Lu ( 2012-02-01 04:09:18 -0600 )edit

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