AutoNaviTask

This repo is for ME5413 Autonomous Mobile Robotics @NUS Advanced Robotics Center (ARC)

Members: Haozheng, Sihan, Zaishu, Xingjian, Haoze, Yile

Task Overview

Detailed requirements are as listed under: [NUS-Advanced-Robotics-Centre/ME5413_Final_Project: NUS ME5413 Autonomous Mobile Robotics Final Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project)

Kindly follow installation steps :-)

Requirements

see requirements.txt

pip install -r requirements.txt
rosdep install --from-paths src --ignore-src -r -y

Note that ROS related dependencies are not recommended to be installed by pip.

Running

# If you encounter errors you can't not address, please try to exit your conda environment first.

cd
git clone https://github.com/SinyZXJ/AutoNaviTask.git
cd AutoNaviTask-main

rosdep install --from-paths src --ignore-src -r -y

# You may not have access to devel & build, please delete the 2 directories and run following commands.
catkin_make
source devel/setup.bash

# Terminal1:
conda deactivate # if you set conda as default environment
source devel/setup.bash
roslaunch me5413_world world.launch

#Terminal2:
conda deactivate # if you set conda as default environment
source devel/setup.bash
roslaunch me5413_world navigation.launch

# Terminal3:
cd src/me5413_world
python3 main.py

Mapping

In first terminal:

roslaunch me5413_world world.launch

In second terminal:

roslaunch me5413_world mapping.launch

In third terminal:

roslaunch fast_lio mapping_velodyne.launch

The PCD file will be saved under src/FAST_LIO/PCD/scans.pcd

Then run

python pcd2costmap.py

To convert PCD to 2D costmap.

Contribution

Haozheng - Step1 Planning + Point Cloud Matching + Navigate to Final Box

Sihan - Mapping + Localization

Zaishu - Planning (RL Methods & Basic Methods)

Xingjian - Planning (RL Methods & Basic Methods) + Slides Making

Haoze - Numbers Recognition + Paper Writing

Yile - Bridge Recognition + Crossing