Readme Not clear enough

[WafaAbid1]

Hello,
I am trying to launch the package and I have few questions about it.

1. First do I need to launch the segmentation and navigation or does the exploration does the job?
2. Second I was not able to change the map even tho I added it in https://github.com/ipa320/ipa_coverage_planning/tree/noetic_dev/ipa_room_segmentation/common/files/test_maps
3. Third, I could not obtain a different path planning even after changing the room_exploration_algorithm in the room_exploration_action_server_params.yaml file
4. Finally, my robot never moved even if I have a map and a path generated
   I am missing something or doing something the wrong way? Thanks in advance

[ipa-foj]

Hello,

first of all thanks for your interest in our software. Regarding your questions:

1. The segmentation and exploration are completely independent from each other. The exploration just takes an input image it shall plan on. These images can be e.g. the rooms obtained from room segmentation, but don't have to be. If you need both functionalities you have to run and call both codes individually.
2. • 3. Not sure what exactly you did, but I assume you executed the room_exploration_action_client. This is just an example code of how you can use the full functionalities of the planning action server, thus it also overrides different parameters of the action server by using dynamic reconfigure. I would suggest you have a look into this code, most likely the source of this issue lies there.
3. This code is only doing the planning, so a navigation layer still needs to be set up and running. We assume move_base in here. Did you set this up for your robot and launch it before executing this code?

Best regards