mesh_navigation_pluto

Mesh Navigation Tutorials on Real World pluto maps

This repository contains the "pluto" environments used in mesh navigation papers published before 2024. If you want to reproduce results from those papers, we recommend using the ROS 1 version instead: https://github.com/uos/pluto_robot.

Download GIT LFS

The following maps are available within this package:

• physics_campus_uos
• botanical_garden_osnabrueck
• stone_quarry_brockum

While being in the source directory of this repository, download all Pluto maps by entering

git lfs pull --include="mesh_navigation_pluto*"

or specific ones by calling

git lfs pull --include="mesh_navigation_pluto*/**/physics_campus_uos*"

Install Pluto Maps

Compile your ROS workspace to install the downloaded Pluto maps

colcon build

Quick-Start

ros2 launch mesh_navigation_pluto mesh_navigation_pluto_launch.py world_name:=physics_campus_uos

Note

Since the maps are quite large the startup might take some time to load.