Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration [IROS 2024]

Detected dependencies:

• ROS Noetic
• OctoMap
• PCL
• Eigen
• OpenCV
• Python3

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Dependency Installation and Checking Guide

### Detected Dependencies

• ROS Noetic
• OctoMap
• PCL (Point Cloud Library)
• Eigen
• OpenCV
• Python3

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1. Install All Required Dependencies

# Update package index
sudo apt update

# Install ROS Noetic (if not already installed)
sudo apt install ros-noetic-desktop-full

# Install OctoMap packages
sudo apt install ros-noetic-octomap ros-noetic-octomap-msgs ros-noetic-octomap-server

# Install PCL and related ROS interfaces
sudo apt install libpcl-dev ros-noetic-pcl-ros ros-noetic-pcl-conversions

# Install Eigen
sudo apt install libeigen3-dev

# Install OpenCV (C++ and Python interfaces)
sudo apt install libopencv-dev python3-opencv

# Ensure Python3 is installed
sudo apt install python3 python3-pip

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2. Check Each Dependency

2.1 ROS Noetic

echo $ROS_DISTRO
# Expected output: noetic

roscore
# Should start ROS master; Ctrl+C to exit.

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2.2 OctoMap

rosrun octomap_server octomap_server_node
# If started without error, OctoMap is installed.
# Ctrl+C to exit.

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2.3 PCL (Point Cloud Library)

pkg-config --modversion pcl_common
# Should output a version number, e.g., 1.10.0

# Optional: check Python PCL (if needed for your project)
python3 -c "import pcl"
# No error = installed; Error = Python PCL not installed (usually not needed for ROS C++)

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2.4 Eigen

pkg-config --modversion eigen3
# Should output a version number, e.g., 3.4.0

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2.5 OpenCV

# For C++ interface
pkg-config --modversion opencv4
# Should output a version number, e.g., 4.2.0

# For Python interface
python3 -c "import cv2; print(cv2.__version__)"
# Should print the OpenCV version, e.g., 4.2.0

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2.6 Python3

python3 --version
# Should output a version number, e.g., Python 3.8.10

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2.7 Summary Table

Dependency	Install Command	Check Command	Expected Output
ROS Noetic	sudo apt install ros-noetic-desktop-full	echo $ROS_DISTRO roscore	noetic, ROS master
OctoMap	sudo apt install ros-noetic-octomap ros-noetic-octomap-msgs ros-noetic-octomap-server	rosrun octomap_server octomap_server_node	No error
PCL	sudo apt install libpcl-dev ros-noetic-pcl-ros ros-noetic-pcl-conversions	pkg-config --modversion pcl_common	Version number
Eigen	sudo apt install libeigen3-dev	pkg-config --modversion eigen3	Version number
OpenCV	sudo apt install libopencv-dev python3-opencv	pkg-config --modversion opencv4 python3 -c ...	Version number
Python3	sudo apt install python3 python3-pip	python3 --version	Version number

---

3. Clone Required ROS Packages

**step-by-step guide** 
---

# ROS Workspace Setup and Project Execution Guide

## 1. **Install All Dependencies**

> Make sure you have installed ROS Noetic, PCL, OctoMap, Eigen, OpenCV, Python3, and any other required system or Python dependencies.

---

## 2. **Create a Catkin Workspace**

```bash
mkdir -p ~/WS_SE/src
cd ~/WS_SE/src

You can replace WS_SE with any workspace name you prefer.

---

git clone [https://github.com/BohemianRhapsodyz/semantic_exploration.git](https://github.com/Lawaries/semantic_exploration_test.git)
# Clone any other required repositories here as well

---

4. Build the Workspace

cd ~/WS_SE
catkin config --install
catkin build

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5. Source the Workspace Environment

Before running any ROS nodes, always source the workspace’s setup file in every new terminal:

source ~/WS_SE/install/setup.bash

Tip: You can add this line to your ~/.bashrc to source automatically in every terminal:

echo "source ~/WS_SE/install/setup.bash" >> ~/.bashrc

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6. Launch Each Node in a Separate Terminal

Open a new terminal for each node you need to run, and remember to source the setup file every time.

Example Launch Sequence:

Terminal 1: SLAM / Localization

cd ~/WS_SE
source install/setup.bash
roslaunch orb_slam2_ros orb_slam2_exploration.launch

Terminal 2: Odometry Transfer Script

cd ~/WS_SE
source install/setup.bash
#python3 odom_transfer.py
python3 src/semantic_exploration/3dParty/orb_slam_2_ros/odom_transfer.py

Terminal 3: Semantic OctoMap Mapping

cd ~/WS_SE
source install/setup.bash
roslaunch semantic_octomap semantic_mapping.launch

Terminal 4: Semantic Exploration Planning

cd ~/WS_SE
source install/setup.bash
roslaunch semantic_exploration run_semantic_exploration.launch

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7. Tips

• Always use the workspace root (e.g., ~/WS_SE) for building with catkin.
• All your ROS packages should be inside the src folder.
• If you encounter errors about missing packages or nodes, ensure you have sourced the setup file and installed all dependencies.

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8. Summary Table

Step	Command/Action
Create workspace	mkdir -p ~/WS_SE/src
Clone repositories	git clone <repo_url>
Build workspace	cd ~/WS_SE catkin config --install catkin build
Source environment	source ~/WS_SE/install/setup.bash
Launch each node (separate terminal)	See above examples

---

Citation

@inproceedings{zhang2024active,
  title={Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration},
  author={Zhang, Rongge and Bong, Haechan Mark and Beltrame, Giovanni},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={13787--13794},
  year={2024},
  organization={IEEE}
}

9. Acknowledgments

• SSMI
• Explorb
• ORB-SLAM
• Semantic mapping

**License**

[![MIT License](https://img.shields.io/badge/License-MIT-green.svg)](https://choosealicense.com/licenses/mit/)
## **Contributors**
<a href="https://github.com/BohemianRhapsodyz/semantic_exploration/graphs/contributors">
  <img src="https://contrib.rocks/image?repo=BohemianRhapsodyz/semantic_exploration" />
</a>  

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