ROS workspace with the code to run everything including evaluatory codes is added in in code/workspace, with details in the METAS.pdf.
Note: the code might not be working correctly due to the anonimization procedure.
Results are available here: https://drive.google.com/file/d/1IRtgg_3bcaTNUl91YRyxjJY8iOgpzz3e/view?usp=sharing
We use ROS Noetic to build our package. Since METAS is developed using the iRotate package, we follow the same installation instructions.
Other than the prerequites of iRotate, the following are required for METAS package to:
- numpy
- scipy
- grid_map ROS package (already in workspace, no need to install seperately)
after following the installation steps of iRotate, and installing all prerequites, we can build the workspace using:
catkin build -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release -j8
The evaulation code is given in the METAS.pdf file. We provide tmuxinator config files, inside the tmux_config folder, to run all rosnode required together.
Example: tmuxinator start cafe_transformation.yml, will run the METAS package on café environment. Similarly tmuxinator start small_house_transformation.yml will run the METAS package on small_house environmnet.