NUS ME5413 Final Project - Group 8

Task Description: please refer to ./docs/ME5413_Final_Project.pdf.

Demo:

For the insturcitons of the original simulation environment that this project relies on, please refer to ME5413_Final_Project-Github.

If you have any questions, please feel free to contact us: [email protected]

Features

• SLAM
  • Cartographer
  • Fast-LIO2
  • Map Fusion
• Planning and Control (PnC)
  • A*
  • Theta*
  • DWA
  • TEB
  • Model Predictive Control (MPC)
• Perception: EasyOCR
• Decision and Exploration
  • Finite State Machine (FSM)
  • Frontier and occupancy grid map-based exploration
• Pipeline: Highly modular, automated, and configurable

Structure

.
├── final_fsm # Finite State Machine package
├── final_percep # Perception package
├── final_pnc # Navigation package
├── final_slam # SLAM package
├── interactive_tools # Interactive tools for rviz
├── jackal # Jackal package
├── jackal_description # Modified Jackal model package
├── me5413_world # Gazebo simulation package
└── third_party # Third-party packages. We have modified or tailored some of them.

Installation

System dependencies

• Ubuntu 20.04
• ROS Noetic
• C++11 and above

sudo apt install ros-noetic-rviz-imu-plugin ros-noetic-move-base ros-noetic-navfn tmux python3-catkin-tools python3-wstool python3-rosdep ninja-build stow ffmpeg

python -m pip install Pillow markupsafe==1.1.1 ipdb

• Some useful commands

  In your .bashrc or .zshrc file, add the following lines:

  alias rosk='rosnode kill -a ; killall -9 roscore rosmaster gzserver gazebo rviz ; kill -9 $(pgrep -f rqt)' # kill all ROS processes immediately
  alias gazebok="pkill -P $(pgrep -f gazebo.launch) ; pkill -9 gzserver ; pkill -9 gzclient" # kill gazebo immediately
  alias rqtg="rosrun rqt_graph rqt_graph"
  alias rqttf="rosrun rqt_tf_tree rqt_tf_tree"
  alias rqtrecon="rosrun rqt_reconfigure rqt_reconfigure"

Repository setup

mkdir ~/me5413_final_ws/ && cd ~/me5413_final_ws/
git clone https://github.com/brian00715/Autonomous-Robot-Navigation src
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=RelWithDebInfo

# package ros dependencies
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

Someone may encounter the issue that the RViz runs extremely slow when visualizing the point cloud. To accelerate the point cloud processing, you can edit the Velodyne description file:

roscd velodyne_description/urdf

Open the VLP-16.urdf.xacro and HDL-32E.urdf.xacro, change the gpu:=false to gpu:=true on line 4.

Perception

Please install conda first.

conda create -n me5413 python=3.8
conda activate me5413
conda install pytorch==2.1.1 torchvision==0.16.1 pytorch-cuda=12.1 -c pytorch -c nvidia
conda install -c conda-forge opencv rosdep rospkg easyocr decorator pexpect numpy defusedxml ipdb
export PYTHONPATH=$PYTHONPATH:/usr/lib/python3.8/dist-packages

SLAM

Note: You can choose to install the relied SLAM packages. No need to install all of them.

1. Cartographer (Recommended)

Please open a terminal in your workspace and execute the following commands to install Cartographer.

• Install Abseil-cpp Library

  Cartographer requires the abseil-cpp library, which needs to be manually installed using the provided script. Run the install_abseil.sh script:

  ~/me5413_final_ws/src/third_party/cartographer/cartographer/scripts/install_abseil.sh

• Build and Install:

  catkin build cartographer*

2. Fast-LIO

Fast-LIO relies on Livox-SDK and livox_ros_driver, please satisify prerequisites first before compile Fast-LIO.

For Ubuntu 18.04 or higher, with ROS >= Melodic, the default PCL and Eigen is enough for FAST-LIO to work normally.

• Livox-SDK Livox SDK is the software development kit designed for all Livox products and required by Fast-LIO. To install and compile the SDK, please follow:

  cd ~/me5413_final_ws/src/third_party/Livox-SDK
  cd build && cmake ..
  make -j
  sudo make install

• livox_ros_driver

  livox_ros_driver is a ROS package used to connect LiDAR products produced by Livox, and is necessary for Fast-LIO. This package can be compiled by running

  cd ~/me5413_final_ws
  catkin build livox_ros_driver

• Build

  If all the prerequisites are satisfied, Fast-LIO can be easily complied by running

  cd ~/me5413_final_ws
  catkin build fast_lio

Build

Note: the SLAM packages should be built before this step.

catkin build final_slam final_pnc final_percep final_fsm jackal* interactive_tools me5413_world
echo "source ~/me5413_final_ws/devel/setup.bash" >> ~/.bashrc

Running

One-click launch

Note: please confirm the conda environment and Cartographer have already been installed and built scuccessfully before running the one-click launch.

rosrun final_fsm start.sh
rosrun final_fsm start.sh -e -r # enable EKF and enable screen recording

Step-by-step launch

Gazebo simulation

export ENABLE_EKF=false # set to false means using the ground truth odometry, otherwise the EKF odometry fusing IMU the wheel odometry
roslaunch me5413_world me5413_world.launch

Mapping

• Cartographer

  roslaunch final_slam mapping_carto.launch # default Mapping configuration
  roslaunch final_slam mapping_carto_2d.launch # 2D Cartographer Mapping
  roslaunch final_slam mapping_carto_3d.launch # 3D Cartographer Mapping

  An example of mapping by 2D Cartographer is shown as follows:

  

• Fast-LIO

  source ~/me5413_final_ws/devel/setup.bash
  roslaunch final_slam mapping_fast_lio.launch

  An example of point cloud by FastLIO is shown as follows:

  

  • Point Cloud to Map

    After mapping with Fast-LIO, we offer a ROS package called pcd2pgm to convert the .pcd files generated by Fast-Lio (located in src/third_party/FAST_LIO/PCD) into standard .pgm map files. To compile this package, please execute:

    cd ~/me5413_final_ws
    catkin build pcd2pgm

    To generate the map, run the following command:

    source ~/me5413_final_ws/devel/setup.bash
    roslaunch pcd2pgm pcd2pgm.launch

    After seeing 'data size =' displayed in the terminal, open a new terminal in your map folder and execute:

    rosrun map_server map_saver

    Then you can obtain the .pgm map file. An example is shown as follows:

    

• Map Fusion

  To fully utilize the maps generated both by Cartographer and Fast-LIO, we provide a simple Python script that uses image processing methods to fuse these two high-quality maps into one. To perform this, execute:

  cd ~/me5413_final_ws/src/final_slam/scripts
  chmod +x map_fusion.py
  python3 map_fusion

  You will obtain the fused map named fusion_map.pgm in final_slam/maps. The result is shown as follows:

  

Localization (With built map)

roslaunch final_slam localization_carto.launch # cartographer by default

Navigation

• With Gazebo, cartographer, and navigation

  rosrun final_pnc debug.sh

• Only navigation

  roslaunch final_pnc pnc.launch

FSM

roslaunch final_fsm fsm.launch

Configuration

Localization

To change to map used for localization, modify the map_file parameter in final_slam/launch/localization_carto.launch.

Planning and control

You can choose which global planner or local planner to use in final_pnc/launch/pnc.launch.

Note: For the current version, if you want to use the DWA or TEB local planner, you should set arg local_planner to a value other than mpc. Uncomment the corresponding local planner from lines 40-47 and comment out lines 49-50 in final_pnc/launch/pnc.launch.

You can modify the parameters in final_pnc/config/*/*.yaml to adjust the performance. For exmaple, you can adjust the max_vel in final_pnc/config/nav_params/mpc.yaml to change the maximum velocity of MPC local planner.

Acknowledgement

We would like to thank the following open-source projects:

• ME5413_Final_Project
• Cartographer
• Fast-LIO
• ros_motion_planning
• pcd2pgm_package
• PA-DMPC-UAV-Ad-Hoc
• EasyOCR
• occ_grid_mapping

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