Rocky-Times-Challenge-SES598-ASU

This code is the part of midterm assignment for SES 598 Autonomous Exploration System Course at Arizona State University (ASU). The project involves moving the quadcopter close to a probe for data mulling, later move towards precariously balanced rock, revolve around it and create PointCloud map using ORBSLAM2 and land safely on Rover.

Challenge details and objectives

The phase-1 world consist of bishop mars terrain along with a probe, a precariously balanced rock, a rover and a quadcopter. The task includes below points in the given sequence 1. Set offbaord and go to the probe for data mulling (distanceThreshold = 1 meter) 2. After data mulling is completed, move closer to rock and map the entire rock using OrbSlam2 3. Once mapping is completed, move towards the pre-defined location where rover is parked and land on it safely. 4. All the above sequence of action must happened autonomoulsy without human intervention in between.

Demonstration

Screen.Recording.2023-05-02.at.7.22.57.PM.1.1.mp4

Installation

Register on https://cps-vo.org/group/CPSchallenge to get access to pre-configured docker container with 3D graphics, ROS, Gazebo, and PX4 flight stack. Or you can clone and build using https://github.com/Open-UAV/cps_challenge_2020.git

Install ORBSLAM2 by following the github repository

https://github.com/raulmur/ORB_SLAM2.git

Follow below instruction to clone the midterm.py in ./scripts/ folder

cd cps_challenge/scripts

git clone https://github.com/skp-1997/Rocky-Times-challenge-SES598-ASU.git

Running the code

Run the phase-1 world of gazebo using the command

roslaunch cps_challenge_2020 phase-1.launch

Run the ORBSLAM2 using the command

rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE /camera/image_raw:='your camera topic'

Run the program using the command

rosrun cps_challenge_2020 midterm.py or python midterm.py

Pre-requisites

1. Python 2.7
2. Ubuntu 18.04
3. ROS1 MELODIC
4. Gazebo 9.6