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forest_gen

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Generates randomized Poisson forests to use for UAV collision avoidance evaluations.

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# forest_gen
Generates randomized Poisson forests to use for UAV collision avoidance evaluations.

Input: map size and density
Output: Gazebo world file and (optionally) Octomap

**Authors**: Zachary Taylor, zachary.taylor@mavt.ethz.ch \
**Maintainers**: Zachary Taylor, zachary.taylor@mavt.ethz.ch and Helen Oleynkova, helen.oleynikova@mavt.ethz.ch \
**Affiliation**: Autonomous Systems Lab, ETH Zurich

## Bibliography
If using these datasets, please cite [1]:

Helen Oleynikova, Michael Burri, Zachary Taylor, Juan Nieto, Roland Siegwart, and Enric Galceran, “**Continuous-Time Trajectory Optimization for Online UAV Replanning**”. In *IEEE Int. Conf. on Intelligent Robots and Systems* (IROS), 2016.

[[PDF here]](http://helenol.github.io/publications/iros_2016_replanning.pdf)

```
@inproceedings{oleynikova2016continuous-time,
  author={Oleynikova, Helen and Burri, Michael and Taylor, Zachary  and  Nieto, Juan and Siegwart, Roland and Galceran, Enric},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Continuous-Time Trajectory Optimization for Online UAV Replanning},
  year={2016}
}
```

## Installation Requirements
* ROS indigo and up
* [rotors_simulator](https://github.com/ethz-asl/rotors_simulator) for octomap generation from Gazebo worlds.
* Recommended: [volumetric_mapping](https://github.com/ethz-asl/volumetric_mapping.git) for using Octomap as a ROS library within other programs.

## Package Contents
* 10 pre-generated forest maps, 10 meters by 10 meters by 10 meters, with a density of 0.2 trees/square meter. (worlds)
* 1 pre-generated large map, 50 meters by 50 meters, with a density of 0.1 trees/square meter. (big_worlds)
* Royalty-free tree models, created by [Miedevalworlds](https://www.turbosquid.com/3d-models/free-firtree-3d-model/480733)
* Generation script to create environments of any size and tree density.
* Start and end points used for planning evaluation in [1], as a CSV.

![image](https://user-images.githubusercontent.com/5616392/27187849-97ec9a00-51ec-11e7-890c-b4c6d7290a4f.png)

## Planning Evaluations
`start_and_end.csv` contains 900 free start and end points, used for the planning evaluations in [1]. All points are at least 4 meters apart and both start and goal are free space, given a bounding box of 1.2 meters by 1.2 meters by 1.0 meters. The actual bounding box used for path evaluations was 0.2 meters smaller; 1.0 meters by 1.0 meters by 0.8 meters.

## Generating New Environments
Use the following shell script to generate new worlds. 
```
./genForests.sh <number of worlds to gen> <world side length> <tree density> <octomap res>
./genForests.sh 1 10 0.2 0.2
```

forest_gen

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