ME5413_Final_Project - Group 8

NUS ME5413 Autonomous Mobile Robotics Final Project

Authors: CHENXIN, ZHUYU, MAYUXUAN, ZHAOYUNSHUO, ZHANGBINLIN, and XIEYIKANG

Dependencies

• System Requirements:
  • Ubuntu 20.04
  • ROS Noetic
  • C++11 and above
  • CMake: 3.0.2 and above
• This repo depends on the following standard ROS pkgs:
  • roscpp
  • rospy
  • rviz
  • std_msgs
  • nav_msgs
  • geometry_msgs
  • visualization_msgs
  • tf2
  • tf2_ros
  • tf2_geometry_msgs
  • pluginlib
  • map_server
  • gazebo_ros
  • jsk_rviz_plugins
  • jackal_gazebo
  • jackal_navigation
  • velodyne_simulator
  • teleop_twist_keyboard
  • easyocr
• And this gazebo_model repositiory

Installation

This repo is a ros workspace, containing three rospkgs:

• interactive_tools are customized tools to interact with gazebo and your robot
• jackal_description contains the modified jackal robot model descriptions
• me5413_world the main pkg containing the gazebo world, and the launch files
• Mapping the main pkg containing the FAST-LIO, and the launch files
• Navigation the main pkg containing the Local-Planner, and the launch files
• Perception the main pkg containing the Barrel & Number Detection, and the launch files
• FSM the main pkg containing the FSM, and the launch files
• 3rdparty the main pkg containing the Livox-SDK2 & livox_ros_driver2

To properly load the gazebo world, you will need to have the necessary model files in the ~/.gazebo/models/ directory.

There are three sources of models needed:

• Gazebo official models

  # Create the destination directory
  cd
  mkdir -p .gazebo/models
  
  # Clone the official gazebo models repo (assuming home here `~/`)
  git clone https://github.com/osrf/gazebo_models.git
  
  # Copy the models into the `~/.gazebo/models` directory
  cp -r ~/gazebo_models/* ~/.gazebo/models

• Our customized models

  # Copy the customized models into the `~/.gazebo/models` directory
  cp -r ~/ME5413_Final_Project/src/me5413_world/models/* ~/.gazebo/models

• Realsense RGBD camera

  sudo apt-get install ros-$ROS_DISTRO-realsense2-camera ros-$ROS_DISTRO-realsense2-description ros-$ROS_DISTRO-gazebo-plugins

There are two driver for FAST_LIO:

• Livox-SDK2

  mkdir -p Autonomous_Jackal_ws/src
  cd Autonomous_Jackal_ws
  git clone https://github.com/XinChen-stars/Autonomous_Jackal.git
  mv Autonomous_Jackal/* src/
  rm -rf Autonomous_Jackal/
  unzip src/3rdparty.zip -d ./  
  cd 3rdparty/Livox-SDK2/  
  mkdir build
  cd build
  cmake ..
  make -j8
  sudo make install

• livox_ros_driver2

  cd Autonomous_Jackal_ws/src
  mkdir Mapping
  cd ../
  cp -r 3rdparty/livox_ros_driver2/ src/Mapping/  
  cd src/Mapping/livox_ros_driver2
  ./build.sh ROS1

• FAST_LIO

  cd Autonomous_Jackal_ws/
  cp -r 3rdparty/FAST_LIO src/Mapping/
  catkin_make

Dependence for Perception:

• EasyOCR

  pip install easyocr
  pip uninstall opencv-python-headless
  pip install opencv-python

Note: Please intall the Livox-SDK2 & livox_ros_driver2 before install the FAST-LIO !!!

Usage

0. Gazebo World

This command will launch the gazebo with the project world

# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch

1. Mapping

# Launch fast_lio 
roslaunch fast_lio mapping_velodyne.launch

2. Navigation

# Launch local planner
roslaunch mission_fsm jackal_navigation.launch

3. Perception

# Launch Barrel & Number detection
roslaunch mission_fsm jackal_detection.launch

4. FSM

# Launch mission fsm
roslaunch mission_fsm jackal_fsm.launch

Acknowledgement

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

• Fast-LIO for localization
• EasyOCR
• cmu_planner for local_planner and terrain_analysis