66Lau/sentry_sim

The simulation of sentry in RoboMaster 2023 session based on gazebo

sentry_sim

The simulation of sentry in RoboMaster 2023/2024 season based on gazebo, autonomous_exploration_development_environment, far_planner

332cc835b193e9f544fd5f33597ee3ac.-.Compressed.with.FlexClip.1.mp4

Environment Setting

• CPU:4800h
• GPU 2060
• RAM: 16G
• OS: Ubuntu 20.04
• ROS: noetic

Some files in autonomous_exploration_development_environment, far_planner package are modified, therefore, I recommend that using noetic as your ROS version and cloning from my repo directly. Because I added collison attribute for the robot and used different controller, which is different from the original version of the autonomous_exploration_development_environment.

sudo apt-get install xterm
sudo apt install libusb-dev

cd ~
mkdir ws_sentry_sim
cd ws_sentry_sim
mkdir src
cd src
git clone git@github.com:66Lau/sentry_sim.git
cd ..
catkin_make

Launch Simulation

cd ws_sentry_sim
source devel/setup.bash
roslaunch sentry_gazebo startup_rmuc.launch

Uphill

Navigation in bumopy road

Global navigation(far_planner)

Reference

Appreciate!

• CMU-autonomous_exploration_development_environment
• CMU-FAR-planner
• KDRobot_RM2023Sentry_Navigation
• Hbut_LC_sentry

Q&A

Drop

When lidar are not able to scan the ground below the cliff, the system would grant cliff passable. It could be solved by set "noDataObstacle" to true.