ROS Noetic Compatibility Changes

[prabinrath]

These changes make the rrt_exploration package compatible with ROS Noetic

1. Python 3 is the default for ROS1 distributions starting from Noetic. Hence, the shebang has been updated to point at python3.
2. Integer division result is different between python2 and python3. For example, 3/2 is 1 in python2 but 1.5 in python3, however, 3//2 is 1 in python3. Hence, the / operator has been replaced with // to get floored integers.

[prabinrath]

With these changes, I was able to run the rrt_exploration package on my custom robot + ROS Noetic successfully. Please find the associated launch file for a single robot exploration scenario here.

[phoenixrider12]

Hey @prabinrath , when I am trying to run your fork in ROS noetic, my robots are not moving. Nothing gets printed on terminal after "Waiting for the robot transform". Can you help?

[prabinrath]

@phoenixrider12 the message is "Waiting for the robot transform", I guess your TF graph is probably not connected. Your robot needs to be navigation ready before you can use RRT exploration. For getting started with this package I had to tune some parameters. This package is designed for multi-robot systems and running it on a single robot system without the "robot_1" namespace requires overriding default params in the launch file. You can refer to my launch file that sets these parameters for the package here.

[phoenixrider12]

see the tf_tree is correct I think and autonomous navigation works on my robot so I think its navigation ready. I also tried with your launch file but the issue is still same

[prabinrath]

@phoenixrider12 please share the link to your package. The information you have provided is not enough to debug the issue. There are a plethora of reasons that may lead to the issue you are facing. It is not related to this thread for ROS Noetic compatibility. I would suggest you create an issue in your repository and share the link with me at [email protected]