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Repository Summary
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| 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 |
|---|---|
| fast_lio | 0.0.0 |
| point_lio | 0.0.0 |
| bspline_opt | 0.0.0 |
| mpc_controller | 0.0.0 |
| path_searching | 0.0.0 |
| plan_env | 0.0.0 |
| ego_planner | 0.0.0 |
| traj_utils | 0.0.0 |
| boundary_handler | 0.0.1 |
| far_planner | 0.0.1 |
| goalpoint_rviz_plugin | 0.0.1 |
| graph_decoder | 0.0.1 |
| teleop_rviz_plugin | 0.0.1 |
| visibility_graph_msg | 0.0.1 |
| fast_gicp | 0.0.0 |
| faster_lio | 0.0.0 |
| global_planner | 1.17.3 |
| nav_bringup | 0.0.0 |
| nav_transporter | 0.0.0 |
| pcd2pgm | 0.0.0 |
| local_planner | 0.0.1 |
| obstacle_generater | 0.0.0 |
| terrain_analysis | 0.0.1 |
| terrain_analysis_ext | 0.0.1 |
| pointcloud_repub | 0.0.0 |
| realsense2_camera | 2.3.2 |
| realsense2_description | 2.3.2 |
| sentry_msgs | 0.0.0 |
| sentry_srvs | 0.0.0 |
README
Sentry Navigation
introduction
本仓库为2024哨兵导航仓库
main为双头构型，spare-sentry为单头构型
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📊 决策
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state_processing
维护一个状态机执行更上层的决策指令
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:round_pushpin: 定位
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faster_lio
在原有代码基础上利用imu数据结合内部的esekf前向预测，获得了大约200hz的定位频率，增加转换矩阵适应雷达的不同安装
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fast_gicp
将实时采集的pcd与建图获得的pcd进行icp，维护map->odom的回环检测；经赛场测试，官方uwb定位精度极高，因此选择在uwb和定位高度不匹配时在此线程重启lio进行重定位
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👁️ 感知
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pointcloud_repub
裁切进入lio前的点云，变换lio去畸变后的点云到世界系，融合其他传感器（如d435)点云
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terrain_anlysis
可根据雷达fov选择每次分析时更新地图栅格的区域，适应各种雷达安装方式
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obstacle_generator
根据赛场已知地图，将静态障碍物发布为障碍物点云供规划使用
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📅 规划
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far_planner
以拓扑图为基础的全局规划，在动态场景下效果较好，规划的路径相较A*更加适配下层离线轨迹的local planner
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local_planner
cmu_exploration的local_planner，以离线轨迹为基础，为适应全向移动在轨迹评分上有部分改动
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⚙️ 执行
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path_follow
简单的比例跟随轨迹，为适应赛场决策，目标跟随，云台控制，小陀螺等决策指令也在这里一并处理发出
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📡 通信
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nav_transporter
使用usb通信，can通信长时间未维护
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environment
- 下载所需依赖：
apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
echo "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" > /etc/apt/sources.list.d/realsense.list
apt-get update
DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential cmake libeigen3-dev libpcl-dev libgoogle-glog-dev libudev-dev git libxrandr-dev libxi-dev libxinerama-dev libsdl2-dev libusb-1.0.0-dev
cp -rf /usr/include/eigen3/Eigen /usr/include/Eigen -R
- clone该仓库：
git clone git@github.com:IRobot-Algorithm/sentry_navigation.git
- 使用
lfs下载所需的第三方库：
git lfs install
git lfs pull
- 解压并编译安装第三方库：
for file in ./thirdparty/*; do \
if [ -f "$file" ]; then \
case "$file" in \
*.tar.gz) tar -xzf "$file" -C ./thirdparty ;; \
*.zip) unzip "$file" -d ./thirdparty ;; \
*.tar.bz2) tar -xjf "$file" -C ./thirdparty ;; \
*.tar.xz) tar -xJf "$file" -C ./thirdparty ;; \
esac; \
rm "$file"; \
fi; \
done
find ./thirdparty -name "install.sh" -type f -exec bash -c 'cd "$(dirname "{}")" && chmod 777 install.sh && ./install.sh' \;
- 下载所需ROS第三方库：
apt-get install -y ros-noetic-rviz ros-noetic-cv-bridge ros-noetic-pcl-ros \
ros-noetic-tf-conversions ros-noetic-eigen-conversions \
ros-noetic-ddynamic-reconfigure ros-noetic-diagnostic-updater \
ros-noetic-image-geometry ros-noetic-costmap-2d \
ros-noetic-nav-core ros-noetic-navfn
build
- 运行
build.sh
./build.sh
run
source /opt/ros/noetic/setup.bash
source /devel/setup.bash
roslaunch nav_bringup sentry_nav.launch
docker
- 生成image
docker build . -t sentry_navigation:latest
- 生成container
docker run -it sentry_navigation:latest
- 运行
source /opt/ros/noetic/setup.bash
source /devel/setup.bash
roslaunch nav_bringup sentry_nav.launch
CONTRIBUTING
No CONTRIBUTING.md found.
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