Atron

This repo contains instructions for how to use the Isaac SIM simulation for the Atron USV autonomous debris collection vehicle.

Youtube Link

Installation

mkdir -p ros2_ws/src
cd src
git clone https://github.com/RISC-NYUAD/ATRON
cd ../
rosdep install --from-path src --ignore-src -r -y
colcon build --symlink-install && source install/setup.bash
echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc

Usage

1. Run the simulation in Isaac Sim using the file in

isaac/atron_simulation.usd

2. Run the autonomous routine using:

ros2 launch triton_bringup simulation.launch.xml

3. In another terminal, run

ros2 launch triton_navigation op_solver_bridge.launch.py

This will launch the planning algorithms, as create a link to the orienteering solver.

3. Run the following in another terminal to run the Orienteering -> OMPL -> Pure pursuit navigation pipeline.

cd ~/ros2_ws/src/Triton/triton_navigation/config
ros2 service call /export_oplib std_srvs/srv/Trigger
./../../dependencies/op_solver_ros/op-solver/build/src/op-solver opt --op-exact 0 problem.oplib
ros2 service call /create_waypoints std_srvs/srv/Trigger
ros2 service call /generate_path std_srvs/srv/Trigger
ros2 service call /navigate std_srvs/srv/Empty