This is an end-to-end open-source software for nuclear power plant inspection with mobile robot. If You have any question please send info to januszbedkowski@gmail.com or add issue to this repository.
Refer to Docker file for build instruction.
You need :
- ROS 2 Humble (https://docs.ros.org/en/humble/Installation.html)
- Livox SDK 2, compiled and installed from sources : https://github.com/Livox-SDK/Livox-SDK2
- Some other dependencies:
sudo apt-get install ros-humble-pcl-ros freeglut3-dev libeigen3-dev
Go to mandeye_unicorn workspace and run
colcon build --packages-select mandeye_unicorn
Do not forget to source / add to bash installation:
source ./install/setup.bash
Start robot node:
ros2 run mandeye_unicorn mandeye_unicorn ./mid360_config_lio.json 0 /tmp/ /tmp/
It should run robot driver, Livox listener and everything from MSAS 2023 without any problem.
In another terminal run :
ros2 run mandeye_unicorn base_station_unicorn
Install neccessary packages:
apt-get install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-control-toolbox ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-joy ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-urdfdom ros-${ROS_DISTRO}-vision-msgs ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard ros-${ROS_DISTRO}-topic-tools ros-${ROS_DISTRO}-topic-tools ros-${ROS_DISTRO}-nav-msgs
Download simulator package and unzip and run it
gdown 1vPmKkDh22U8PtkF13Uli1VPlvYEaZlbD && unzip Ros2Sim.zip -d .
./Ros2Project.GameLauncher
Start robot node, note that you need to point to valid mid360_config_lio.json
even running sim:
ros2 run mandeye_unicorn mandeye_unicorn mid360_config_lio.json 1 /tmp/ /tmp/