This repository contains the work presented in Quentin Serdel Semantic-assisted Ground Robot Navigation in Unstructured Environments PhD thesis. It is composed 3 subrepositories:

• simulation_setup: An Ignition Gazebo based toy environment with a controlable ground robot able to produce semantic 3D point clouds
• smana: A semantic-assisted robot navigation solution employing open-source 3D discrete semantic mapping implementations.
• cosmau_nav: A semantic-assisted online mapping and planning solution relying on Gaussian process regression for mapping and Bézier curve optimisation for planning.

See respective subpackages README files for more details

Main Requirements :

• Ubuntu 20.04
• ROS Noetic