What do the the nodesrepresent,

[Talha771]

What does the variable "nodes" in line 140 of GDAE_env.py represent. Are these the blue dots in the map or each indiviudal coordinate in the map

Really appreciate your resources btw.

[reiniscimurs]

Hi,

Line 140 is a publisher of topic of the nodes. Nodes, in general, mean the points of interest (POI) from the paper. But specifically the ones in line 140 are just used for debugging to see the front at each step where robot could place possible nodes.

But you are right that the nodes are the blue dots in the map, specifically, the ones stored in this variable:
https://github.com/reiniscimurs/GDAE/blob/fc793eda8de23bed98ba3acd32908843c535510f/Code/GDAM_env.py#L103C1-L104C1

[Talha771]

Ooh, I thought they were some representation of the discrete points in space on the map. I've been wondering how the robot makes the occupancy grid for the map.

[reiniscimurs]

Ooh, I thought they were some representation of the discrete points in space on the map. I've been wondering how the robot makes the occupancy grid for the map.

Map is created with SLAM Toolbox plugin: https://github.com/SteveMacenski/slam_toolbox