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Data 1 (moving between two floors; stairs and an elevator)

• Our code depends on ROS, Ceres, GTSAM, thus please install those prerequisites before installing MuNES.

mkdir -p ~/munes_ws/srccd ~/munes_ws/srcgit clone git@github.com:donghwijung/MuNES.gitcd ../catkin_makesource ~/munes_ws/devel/setup.bashroslaunch munes run.launchrosbag play data_1.bag

• To proceed the trajectory planning, a pcd file containing ground points of the multi-floor map is necessary.

• The ground map can be obtained from the mapping process.

• If you want to skip the mapping process, you can downloadpcd file and move the downloaded file to the directory/pcd in this repository.

• We tested MuNES withpython 3.8.

pip install -r requirements.txt

cd planningpython munes.py

cd planningpython munes_wo_map.py

@article{jung2024munes,  title={MuNES: Multifloor Navigation Including Elevators and Stairs},  author={Jung, Donghwi and Kim, Chan and Cho, Jae-Kyung and Kim, Seong-Woo},  journal={arXiv preprint arXiv:2402.04535},  year={2024}}

The code in this repository is based onA-LOAM,SC-A-LOAM, andPathPlanning. Thanks to the authors of those codes.

Copyright 2024, Donghwi Jung, Chan Kim, Jae-Kyung Cho, and Seong-Woo Kim, Autonomous Robot Intelligence Lab, Seoul National University.

This project is free software made available under the MIT License. For details see the LICENSE file.