Please refer to our website for more detailed system implementation.
This repo has been tested on Ubuntu 18.04 (ROS Melodic)
- Ubuntu 18.04+
- ROS-Melodic
- python 2.7
- move_base
- GTSAM
- Autoware
- apriltag_ros
- teb-local-planner
Clone the repo in catkin workspace and run
catkin_make
source devel/setup.bash
roslaunch align_gazebo align.launch
In other terminals (Do not forget to run the env with Python 2.7 and to source ROS)
sh run_keyop.sh #To manually drive the vehicle
roslaunch pod_localizer goal_pub.launch #For Localizing Pod
roslaunch align_navigation mapless_move_base.launch #For Running Planner
rosrun align_gazebo pure_pursuit.py #To plan a path till goal
rosrun align_navigation goal_publisher.py #To use other planners
First, for enabling our pod and chassis configuration
- Replace the
..path-to-autoware/autoware/install/vehicle_modelwithdocking-sim/vehicle_model - Replace the
..path-to-autoware/autoware/install/vehicle_gazebo_simulation_launcherwithdocking-sim/vehicle_gazebo_simulation_launcher
Run (from Autoware installed folder) to setup simple world
source install/setup.bash
#Make sure autoware environment is activated
roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=simple gpu:=true
Run Autoware runtime manager
#Run Autoware and Configure for use - Required is path planner, NDT localizer and Rviz
roslaunch runtime_manager runtime_manager.launch
Move to docking-sim folder, source and run the following
roslaunch align_gazebo autoware.launch #HMS, Obstacle Detection and PHZ Identification
#HMS TESTS
rosrun hms_client scan_dummy.py
rosnode kill /obstacle_2d
rosrun obstacle_2d obstacle_2d
#Docking
roslaunch align_navigation mapless_move_base.launch
roslaunch pod_localizer goal_pub_autoware.launch #For Localizing Pod
rosrun align_navigation goal_publisher.py #For Approach Navigation
For running the chassis using keyboard
rosrun align_gazebo ackermann_drive_to_cmd_vel.py
sh run_keyop.sh #To manually drive the vehicle
To use Fake Localization instead of Autoware
rosrun align_gazebo tf_broadcaster_autoware.py
To install GTSAM (Latest Version)
sudo apt-add-repository ppa:bernd-pfrommer/libgtsam
sudo apt update
sudo apt install libgtsam-unstable4 libgtsam4 libgtsam-dev libgtsam-unstable-dev
If Previously installed
sudo apt remove gtsam
sudo add-apt-repository --remove ppa:bernd-pfrommer/gtsam
Please cite outwork if you use or extend this
Send a mail to Sachit Mahajan
- Dubins, L.E. (July 1957). "On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents". American Journal of Mathematics 79 (3): 497–516
- LaValle, S. M. (2006). "Planning Algorithms". Cambridge University Press
- Shkel, A. M. and Lumelsky, V. (2001). "Classification of the Dubins set". Robotics and Autonomous Systems 34 (2001) 179–202
- Walker, A. (2011). "Hard Real-Time Motion Planning for Autonomous Vehicles", PhD thesis, Swinburne University.
- Royce, S. (2008). "Evolutionary Control of Autonomous Underwater Vehicles". PhD thesis, RMIT
- Reeds, J., & Shepp, L. (1990). Optimal paths for a car that goes both forwards and backwards. Pacific journal of mathematics, 145(2), 367-393.
For 'april_tag_ros' If you use this code, please kindly inform Danylo Malyuta (to maintain a list here of research works that have benefited from the code) and cite:
- D. Malyuta, C. Brommer, D. Hentzen, T. Stastny, R. Siegwart, and R. Brockers, “Long-duration fully autonomous operation of rotorcraft unmanned aerial systems for remote-sensing data acquisition,” Journal of Field Robotics, p. arXiv:1908.06381, Aug. 2019.
- C. Brommer, D. Malyuta, D. Hentzen, and R. Brockers, “Long-duration autonomy for small rotorcraft UAS including recharging,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, p. arXiv:1810.05683, oct 2018.
- J. Wang and E. Olson, "AprilTag 2: Efficient and robust fiducial detection," in ''Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', October 2016.