Task: Use a mapping approach of your choice to navigate an unknown environment
Please see the README's located in each of the linked packages under Setup for more details.
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Simulation (Unity environment) - Luca
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Vision - Junpeng
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Controller - Autumn
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Mapping - Shervin, Weihang
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Navigation - Shervin
We assume you are running Ubuntu 18.04 and have ROS-melodic installed.
Please follow this guide for installing ROS-melodic. In short, you need to run these commands:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
Clone the repository:
git clone [email protected]:00000000014ACFEA/autonomous-systems-2021-group-auto.git
Open a terminal and navigate to AdvancedChallenge1SimAndMapping/catkin_ws.
Run the below commands to fetch data from the submodules this project depends on:
git submodule init
git submodule update
Run catkin build to build the workspace.
You will need five terminals. In each terminal, navigate to AdvancedChallenge1SimAndMapping/catkin_ws and run source devel/setup.bash.
In different terminals, run:
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roscore -
roslaunch simulation simulation.launch -
roslaunch controller_pkg controller.launch -
roslaunch mapping mapping.launch -
roslaunch navigation navigation.launch
The raw unity files of the 200x200 environment can be downloaded from the following link:
https://www.dropbox.com/s/e4onw7ebi0lk351/Unity.zip?dl=0
The pre-compiled 200x200 unity environment can be downloaded using the following link:
https://www.dropbox.com/s/r5s11wxvnu4sm13/City_Scenary.zip?dl=0
The pre-compiled testing environment can be download using the following link:
https://www.dropbox.com/s/0q4qdkgupfe19jt/City_Scenary.zip?dl=0