Simulator Mapping

Requirements:

• Ubuntu 22.04
• At least 4 cores(If you're working from virtual machine please allocate at least 4 cores to the VM)
• Prefered: 6 cores

Students Guide

For comprehensive guide about the simulator: https://drive.google.com/file/d/1HKZ_ecanpfv_IFJg1f98f6U__ivAlVef/view?usp=sharing

I. Installation:

0. Install the simulator

• ./install.sh*
• cd Thirdparty/slam/Vocabulary
• tar -xf ORBvoc.txt.tar.gz
• cd -

• There is a chance that you will encouter some make errors - they happen because you don't give enough resources to the Virtual Machine. Just give more resources(You can find how easily in the internet). When you run again don't run ./install.sh instead cd build and then make.

1. Use existing data or build new simulator:

This part is only for users of existing simulator and not meant for users who want to create new simulator model. If you want to use existing simulator(like the one of the TLV University Lab) download this zip file: https://drive.google.com/file/d/1McpMjSu7-ziM0-tqMumX0LM7evFS9Irs/view?usp=sharing

After you downloaded the zip file go to generalSettings.json and change the paths described in part 1 as follows: if the path is in the simulatorMapping directory - just change the path to your simulatorMapping path. if the path isn't in the simulatorMapping directory - change it to the equivalent file in the all-data file you downloaded

2. Configure the parameters to your machine:

Open generalSettings.json and change:

• slam_configuration/vocabulary_path to the path of your vocabulary on the project
• slam_configuration/drone_yaml_path to the path of your drone config file
• offline_video_test_path to the path of the video you want to run of offline orb slam(described later)
• load_map_pathto the path of the map you created with orb slam
• simulator_output_dir to the directory you want the output maps will go to
• simulator_configuration/model_path to the path of your .obj model

II. Usage:

1. Run simulator:

• run ./examples/runSimulator from the build folder in order to use the simulator within the model pay attention to the prints: you will need to press tab from the model viewer in order to start running the slam through the simulator with pre defined moves

2. Navigate to point:

• configure target_point in generalSettings.json
• run ./examples/navigate_to_point from the build folder in order to use the simulator to navigate to the target point*

• This code meant for students to develop their implementation in examples/navigate_to_point

3. Create orb slam map from webcam/drone:

• run ./examples/mapping from the build folder

4. create Orb Slam map from video:

• run ./examples/offline_orb_slam from the build folder

5. Add your room exit code:

optional if you want to find room exit and navigate to the destanation:

• open the roomExit file from src/RoomExit, include/RoomExit directories
• change the implementation to your implementation of the room exit
• You can check your code using runSimulator