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Repository Summary
| Checkout URI | https://github.com/polarisxq/scurm_sentrynavigation.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-06-08 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.5.1 |
| fast_lio | 0.0.0 |
| auto_aim_interfaces | 0.0.0 |
| sensor_scan_generation | 0.0.1 |
| terrain_analysis | 0.0.1 |
| terrain_analysis_ext | 0.0.1 |
| cmd_chassis | 0.0.0 |
| control_panel | 2.3.0 |
| icp_relocalization | 1.0.0 |
| livox_ros_driver2 | 1.0.0 |
| behavior_ext_plugins | 1.1.12 |
| costmap_intensity | 1.1.12 |
| nav2_costmap_2d | 1.1.14 |
| rm_decision_cpp | 0.0.0 |
| sentry_bringup | 0.0.0 |
README
SCURM火锅战队 24赛季哨兵导航
开源的初衷是想把自己的一些好的想法和大家一起分享，所以欢迎各位联系我和我讨论，欢迎PR，提issue🫠~
主要的创新：
-
实现FAST-LIO2的重定位模式，不需要另外运行重定位算法。算力需求小，使得整个框架在NUC12上的资源占用在30%左右；精度高，定位误差小；内存占用不会随着时间增长。
-
改进navigation2的故障恢复行为，卡住时机器人会向无碰撞的方向运动。
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实现底盘和坡面对齐(comming soon)
算法框架和思路详见技术报告
Docker镜像使用方法参阅DevcontainterGuide
包说明
| Package Name | Description |
|---|---|
| ✅auto_aim_interfaces | |
| ✅autonomous_exploration_development_environment | MODIFIED development env for cmu-series planner |
| ✅BehaviourTree.CPP | MODIFIED BehaviourTree lib |
| ✅cmd_chassis | - cmd_vel to chassis_cmd for communication and motion type of the chassis - exexute rotation command in chassis_link since the true value is unavailable |
| ✅control_panel | a simple Qt GUI for simulating referee system |
| ✅FAST_LIO | fastlio mapping |
| ✅livox_ros_driver2 | Driver for livox lidar |
| ✅nav2_plugins - behavior_ext_plugins - costmap_intensity - velocity_smoother_ext |
self defined nav2 plugins - an enhenced back_up action that move toward free space - 2 costmap_2d layer that use intensity filed of pointcloud msg rather than height (use with terrain analysis in autonomous_exploration_development_environment) - an enhenced velocity smoother that increase the speed on slope automatically (use with terrain analysis-pathNorm) |
| ✅rm_decision_cpp | sentry desicion module based on BehaviourTree.CPP, implement nav2pose, topics2blackboard, anti_autoaim, attack etc. behaviours. |
LAUNCH
MAPPING
- launch mapping node
ros2 launch sentry_bringup mapping.launch.py
- save map
# occupancy grid map
ros2 run nav2_map_server map_saver_cli -t /projected_map -f test_map --fmt png
# save pcd
ros2 service call /fast_lio_sam/save_map fast_lio_sam/srv/SaveMap
# or set the resolution by adding
ros2 service call /fast_lio_sam/save_map fast_lio_sam/srv/SaveMap "{resolution: 0.0}"
- then terminate all nodes, pcd file will be saved in /PCD/scans.pcd
MAP PROCESSING
process pcd file
- drag the pcd file to CloudCompare(globalmap or scans.pcd), select the pointcloud in the left panel, then tools->clean->SOR filter, set the parameters (25,1 is a baseline) and apply
- select the processed pointcloud from last step, then tools->segmentation->Label Connected Components, set the parameters and apply
- pick out the CC#0(ususally this one), then tools->Other->Remove duplicate points, keep 1 point per 0.01-0.1m to reduce the size of the pointcloud
- select the processed pointcloud, then file->save as, select .pcd format
LAUNCH ALL
ros2 launch sentry_bringup bringup_all_in_one.launch.py
CONTRIBUTING
No CONTRIBUTING.md found.
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