SSLE

Adapted from FUEL, an excellent drone exploration algorithm from Boyu Zhou.

Project Structure

Exploration

exploration_manager: High-level modules that schedule and call the exploration algorithms.
active_perception: Find and organize frontier clusters, observe and avoid unknown obstacles.

Planning

plan_manage: High-level modules that schedule and call the mapping and planning algorithms.
path_searching: Path searching algorithems like kinodynamic astar and topology PRM.

Mapping

plan_env: Online mapping algorithms, build an Euclidean signed distance filed (ESDF) for the planning systems.

Running Preparation

sim_kit: Components required by Gazebo, like models, worlds and pulgins.

others

bspline: A implementation of the B-spline-based trajectory representation.
bspline_opt: The gradient-based trajectory optimization using B-spline trajectory.
poly_traj, traj_utils, utils

Quick Start

Dependencies

This project has been tested on 18.04(ROS Melodic).

Before you build it using catkin_make, make sure you meet the following requirements:

Basic ROS Environment (recommand ros-melodic-desktop-full)

PX4

Install PX4 using v1.11.1 (with configurations of drone model Amov P450):

 git clone -b 'v1.11.1-22.7.28' --single-branch --depth 1 https://gitee.com/amovlab/prometheus_px4.git
 cd prometheus_px4
 git submodule update --init --recursive
 source ./Tools/setup/ubuntu.sh --no-nuttx
 make px4_sitl_default gazebo

If you still meet python dependencies (like toml, jinja2, etc.) problems after source ./Tools/setup/ubuntu.sh , try:

 cd ~/.local
 sudo chown -R ${username} lib/

PX4 connections

 git clone https://github.com/SeanZsya/basic_flight_suit

MavROS

 sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras

Gazebo Plugins

For realsense sensors and lidar Gazebo plugins, in your workspace, run:
```
 git clone https://github.com/SeanZsya/gazebo_pulgins
```

OpenGL

 sudo apt-get install build-essential libgl1-mesa-dev
 sudo apt-get install freeglut3-dev
 sudo apt-get install libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev

GeographicLib

 wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
 sudo ./install_geographiclib_datasets.sh

Other Required Tools

 sudo apt-get install libarmadillo-dev ros-melodic-nlopt libdw-dev xmlstarlet

Gazebo Models (optional)

Clone the third-party models:
```
git clone https://github.com/osrf/gazebo_models
```
Put them in ~/.gazebo/models/

Path Setup

Add these lines to your ~./bashrc:

source ${path to your workspace}/devel/setup.bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${path to your workspace}/src/FUEL/sim_kit/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${path to your workspace}/devel/lib

source ${path to your px4}/Tools/setup_gazebo.bash ${path to your px4} ${path to your px4}/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${path to your px4}
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${path to your px4}/Tools/sitl_gazebo

Run FUEL Simulation in Gazebo

Launch Exploration:

For Solid-state lidar:

  roslaunch sim_kit multi_exp_sim_sslidar.launch

Then follow the instructions inside the keyboard control tab, pressing R and using 2d Nav Goal in Rviz to trigger exploration.

SeanZsya/SSLE