hongbiaoz / autonomous_exploration_development_environment

Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.

The repository is meant for leveraging system development and robot deployment for ground-based autonomous navigation and exploration. Containing a variety of simulation environments, autonomous navigation modules such as collision avoidance, terrain traversability analysis, waypoint following, etc, and a set of visualization tools, users can develop autonomous navigation systems and later on port those systems onto real robots for deployment.

Please use instructions on our project page.

autonomous_exploration_development_environment's Issues

trajectory_timestamp.txt does't exist!

Hello! Sorry for the inconvenience. In my case, I used the melodic_matterport distribution repository,and after i have done everything what the document introductes, I encountered one problem. When I run the command line in my conda environment "python3 habitat_offline_v0.x.x.py --scene extracted_mp3d_habitat_dir/environment_id.glb --trajectory trajectory_file_dir/trajectory_timestamp.txt --save_dir image_saving_dir", the document said that the system records a trajectory_timestamp.txt file in the 'src/vehicle_simulator/log' folder for every run. But in my case, after I run the launch file once, there is no trajectory_timestamp.txt file in my 'src/vehicle_simulator/log' folder. How can I solve this problem?

Question about the world mesh file

Could you let me know how to make the ply file of the gazebo world in the mesh/world_name/preview folder?
i want to change the overallMapVoxelSize but the existing ply's leaf size is too large for me, so that i want to make the ply file again.
I would be very grateful if you could let me know.
If it's secret, can you tell us what tools or open source you used?

thank you!

There is no file named system_environment.launch

Hello, I want to launch the system with a particular environment, but I do not find the file system_environment.launch in package vehicle_simulator. Has this file been deleted？

No rule to make target 'octomap-NOTFOUND'

Hi there! This looks great! But I ran into some problems while building. When I run catkin_make, I get the following error:

[ 53%] Built target terrainAnalysis make[2]: *** No rule to make target 'octomap-NOTFOUND', needed by '/home/duo/ara/external/autonomous_exploration_development_environment/devel/lib/libgazebo_ros_velodyne_laser.so'. Stop. make[1]: *** [CMakeFiles/Makefile2:4097: velodyne_simulator/velodyne_gazebo_plugins/CMakeFiles/gazebo_ros_velodyne_laser.dir/all] Error 2 [ 66%] Built target waypointExample

Any idea what might be causing this issue? I'm on Ubuntu 20.04 using ROS Noetic. Thanks!

Obstacle is ignored when robot moving towards obstacle

obstacleAvoidance.mp4

Hi, thank you for the hard work. I am trying to implement your system in real robot, the waypoint function works great. However, I am facing issue for obstacle avoidance, the obstacle is ignored when the robot move near the obstacle. It can be seen at 0:17 of the video in the link.

I only changed the yawRateGain and maxYawRate, what parameter should I tune to avoid this issue?

how to get boundary_garage.ply file

In the waypointexample.cpp, boundary_garage.ply file is used for program. But I do not find any code generate it? Could you please tell me how to generate this file?

I get a gazebo error when running system_garage.launch

Error: Could not parse visual element for Link [base_origin]
problem is in

Is there something wrong with robot.urdf.xacro ?

Model[camera/lidar/robot] does not exist

OS : Ubuntu 20.04
ROS version : noetic

I followed the instructions in your website, and I got 0 compilation error

but when I ran the command roslaunch vehicle_simulator system_garage.launch
I got these bunch of errors of Model[camera/lidar/robot] does not exist

I checked the xacro files of these equipment in the folder.

I also tested the vehicleSimulator.cpp , it seems the error is caused by these 3 publish operations.

pubModelState.publish(cameraState);
...
pubModelState.publish(robotState);
...
pubModelState.publish(lidarState);

Here's the output.

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://colleen-XPS-15-9560:42953/

SUMMARY
========

PARAMETERS
 * /camera_description: <?xml version="1....
 * /diagnostic_aggregator/analyzers/PS3State/path: PS3 State
 * /diagnostic_aggregator/analyzers/PS3State/remove_prefix: ps3_joy
 * /diagnostic_aggregator/analyzers/PS3State/startswith: ['Battery', 'Char...
 * /diagnostic_aggregator/analyzers/PS3State/timeout: 5.0
 * /diagnostic_aggregator/analyzers/PS3State/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /diagnostic_aggregator/type: AnalyzerGroup
 * /gazebo/enable_ros_network: True
 * /lidar_description: <?xml version="1....
 * /localPlanner/adjacentRange: 4.25
 * /localPlanner/autonomyMode: True
 * /localPlanner/autonomySpeed: 2.0
 * /localPlanner/checkObstacle: True
 * /localPlanner/checkRotObstacle: False
 * /localPlanner/costHeightThre: 0.1
 * /localPlanner/costScore: 0.02
 * /localPlanner/dirThre: 90.0
 * /localPlanner/dirToVehicle: False
 * /localPlanner/dirWeight: 0.02
 * /localPlanner/goalClearRange: 0.5
 * /localPlanner/goalX: 0.0
 * /localPlanner/goalY: 0.0
 * /localPlanner/groundHeightThre: 0.1
 * /localPlanner/joyToCheckObstacleDelay: 5.0
 * /localPlanner/joyToSpeedDelay: 2.0
 * /localPlanner/laserVoxelSize: 0.05
 * /localPlanner/maxRelZ: 0.25
 * /localPlanner/maxSpeed: 2.0
 * /localPlanner/minPathRange: 1.0
 * /localPlanner/minPathScale: 0.75
 * /localPlanner/minRelZ: -0.5
 * /localPlanner/obstacleHeightThre: 0.15
 * /localPlanner/pathCropByGoal: True
 * /localPlanner/pathFolder: /home/colleen/wor...
 * /localPlanner/pathRangeBySpeed: True
 * /localPlanner/pathRangeStep: 0.5
 * /localPlanner/pathScale: 1.25
 * /localPlanner/pathScaleBySpeed: True
 * /localPlanner/pathScaleStep: 0.25
 * /localPlanner/pointPerPathThre: 2
 * /localPlanner/sensorOffsetX: 0
 * /localPlanner/sensorOffsetY: 0
 * /localPlanner/terrainVoxelSize: 0.2
 * /localPlanner/twoWayDrive: True
 * /localPlanner/useCost: False
 * /localPlanner/useTerrainAnalysis: True
 * /localPlanner/vehicleLength: 0.6
 * /localPlanner/vehicleWidth: 0.6
 * /pathFollower/autonomyMode: True
 * /pathFollower/autonomySpeed: 2.0
 * /pathFollower/dirDiffThre: 0.1
 * /pathFollower/inclRateThre: 120.0
 * /pathFollower/inclThre: 45.0
 * /pathFollower/joyToSpeedDelay: 2.0
 * /pathFollower/lookAheadDis: 0.5
 * /pathFollower/maxAccel: 2.5
 * /pathFollower/maxSpeed: 2.0
 * /pathFollower/maxYawRate: 90.0
 * /pathFollower/noRotAtGoal: True
 * /pathFollower/noRotAtStop: False
 * /pathFollower/pubSkipNum: 1
 * /pathFollower/sensorOffsetX: 0
 * /pathFollower/sensorOffsetY: 0
 * /pathFollower/slowDwnDisThre: 0.85
 * /pathFollower/slowRate1: 0.25
 * /pathFollower/slowRate2: 0.5
 * /pathFollower/slowTime1: 2.0
 * /pathFollower/slowTime2: 2.0
 * /pathFollower/stopDisThre: 0.2
 * /pathFollower/stopTime: 5.0
 * /pathFollower/stopYawRateGain: 7.5
 * /pathFollower/switchTimeThre: 1.0
 * /pathFollower/twoWayDrive: True
 * /pathFollower/useInclRateToSlow: False
 * /pathFollower/useInclToStop: False
 * /pathFollower/yawRateGain: 7.5
 * /ps3_joy/deadzone: 0.12
 * /ps3_joy/dev: /dev/input/js0
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /terrainAnalysis/absDyObsRelZThre: 0.2
 * /terrainAnalysis/clearDyObs: True
 * /terrainAnalysis/clearingDis: 8.0
 * /terrainAnalysis/considerDrop: True
 * /terrainAnalysis/decayTime: 2.0
 * /terrainAnalysis/disRatioZ: 0.2
 * /terrainAnalysis/limitGroundLift: False
 * /terrainAnalysis/maxDyObsVFOV: 16.0
 * /terrainAnalysis/maxGroundLift: 0.15
 * /terrainAnalysis/maxRelZ: 1.0
 * /terrainAnalysis/minBlockPointNum: 10
 * /terrainAnalysis/minDyObsAngle: 0.0
 * /terrainAnalysis/minDyObsDis: 0.3
 * /terrainAnalysis/minDyObsPointNum: 1
 * /terrainAnalysis/minDyObsRelZ: -0.5
 * /terrainAnalysis/minDyObsVFOV: -16.0
 * /terrainAnalysis/minRelZ: -2.5
 * /terrainAnalysis/noDataBlockSkipNum: 0
 * /terrainAnalysis/noDataObstacle: False
 * /terrainAnalysis/noDecayDis: 4.0
 * /terrainAnalysis/quantileZ: 0.25
 * /terrainAnalysis/scanVoxelSize: 0.05
 * /terrainAnalysis/useSorting: False
 * /terrainAnalysis/vehicleHeight: 1.5
 * /terrainAnalysis/voxelPointUpdateThre: 100
 * /terrainAnalysis/voxelTimeUpdateThre: 2.0
 * /terrainAnalysisExt/ceilingFilteringThre: 2.0
 * /terrainAnalysisExt/checkTerrainConn: False
 * /terrainAnalysisExt/clearingDis: 30.0
 * /terrainAnalysisExt/decayTime: 10.0
 * /terrainAnalysisExt/disRatioZ: 0.1
 * /terrainAnalysisExt/localTerrainMapRadius: 4.0
 * /terrainAnalysisExt/lowerBoundZ: -2.5
 * /terrainAnalysisExt/noDecayDis: 0.0
 * /terrainAnalysisExt/quantileZ: 0.1
 * /terrainAnalysisExt/scanVoxelSize: 0.1
 * /terrainAnalysisExt/terrainConnThre: 0.5
 * /terrainAnalysisExt/terrainUnderVehicle: -0.75
 * /terrainAnalysisExt/upperBoundZ: 1.0
 * /terrainAnalysisExt/useSorting: False
 * /terrainAnalysisExt/vehicleHeight: 1.5
 * /terrainAnalysisExt/voxelPointUpdateThre: 100
 * /terrainAnalysisExt/voxelTimeUpdateThre: 2.0
 * /use_sim_time: True
 * /vehicleSimulator/InclFittingThre: 0.2
 * /vehicleSimulator/adjustIncl: True
 * /vehicleSimulator/adjustZ: True
 * /vehicleSimulator/cameraOffsetZ: 0
 * /vehicleSimulator/groundHeightThre: 0.1
 * /vehicleSimulator/maxIncl: 30.0
 * /vehicleSimulator/minTerrainPointNumIncl: 200
 * /vehicleSimulator/minTerrainPointNumZ: 5
 * /vehicleSimulator/sensorOffsetX: 0
 * /vehicleSimulator/sensorOffsetY: 0
 * /vehicleSimulator/smoothRateIncl: 0.5
 * /vehicleSimulator/smoothRateZ: 0.5
 * /vehicleSimulator/terrainRadiusIncl: 2.0
 * /vehicleSimulator/terrainRadiusZ: 1.0
 * /vehicleSimulator/terrainVoxelSize: 0.05
 * /vehicleSimulator/terrainZ: 0
 * /vehicleSimulator/use_gazebo_time: False
 * /vehicleSimulator/vehicleHeight: 0.75
 * /vehicleSimulator/vehicleX: 0
 * /vehicleSimulator/vehicleY: 0
 * /vehicleSimulator/vehicleYaw: 0
 * /vehicleSimulator/vehicleZ: 0
 * /visualizationTools/exploredAreaDisplayInterval: 1
 * /visualizationTools/exploredAreaVoxelSize: 0.3
 * /visualizationTools/exploredVolumeVoxelSize: 0.5
 * /visualizationTools/mapFile: /home/colleen/wor...
 * /visualizationTools/metricFile: /home/colleen/wor...
 * /visualizationTools/overallMapDisplayInterval: 2
 * /visualizationTools/overallMapVoxelSize: 0.5
 * /visualizationTools/trajFile: /home/colleen/wor...
 * /visualizationTools/transInterval: 0.2
 * /visualizationTools/yawInterval: 10.0

NODES
  /
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    gazebo (gazebo_ros/gzserver)
    localPlanner (local_planner/localPlanner)
    pathFollower (local_planner/pathFollower)
    ps3_joy (joy/joy_node)
    realTimePlot (visualization_tools/realTimePlot.py)
    rvizGA (rviz/rviz)
    sensorScanGeneration (sensor_scan_generation/sensorScanGeneration)
    sensorTransPublisher (tf/static_transform_publisher)
    spawn_camera (gazebo_ros/spawn_model)
    spawn_lidar (gazebo_ros/spawn_model)
    spawn_robot (gazebo_ros/spawn_model)
    terrainAnalysis (terrain_analysis/terrainAnalysis)
    terrainAnalysisExt (terrain_analysis_ext/terrainAnalysisExt)
    vehicleSimulator (vehicle_simulator/vehicleSimulator)
    vehicleTransPublisher (tf/static_transform_publisher)
    visualizationTools (visualization_tools/visualizationTools)

auto-starting new master
process[master]: started with pid [4825]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 740465c8-09c8-11ef-a0b1-375a12b6555e
process[rosout-1]: started with pid [4835]
started core service [/rosout]
process[ps3_joy-2]: started with pid [4842]
process[diagnostic_aggregator-3]: started with pid [4843]
process[localPlanner-4]: started with pid [4845]
[ERROR] [1714794207.302940902]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[pathFollower-5]: started with pid [4850]
process[vehicleTransPublisher-6]: started with pid [4855]
process[sensorTransPublisher-7]: started with pid [4857]
process[terrainAnalysis-8]: started with pid [4862]
process[terrainAnalysisExt-9]: started with pid [4871]
process[gazebo-10]: started with pid [4875]
process[spawn_camera-11]: started with pid [4880]
process[spawn_lidar-12]: started with pid [4881]
process[spawn_robot-13]: started with pid [4882]
process[vehicleSimulator-14]: started with pid [4883]
process[sensorScanGeneration-15]: started with pid [4884]
process[visualizationTools-16]: started with pid [4897]

process[realTimePlot-17]: started with pid [4901]
process[rvizGA-18]: started with pid [4906]

Reading path files.
qt5ct: using qt5ct plugin

Simulation started.

qt5ct: D-Bus global menu: no
[ INFO] [1714794209.095445266]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1714794209.100379963]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Initialization complete.

[ INFO] [1714794210.294965697]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1714794210.372319237]: Physics dynamic reconfigure ready.
[ERROR] [1714794213.958068304, 0.026000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958143801, 0.027000000]: Updating ModelState: model [lidar] does not exist
[ERROR] [1714794213.958159312, 0.027000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958173378, 0.027000000]: Updating ModelState: model [robot] does not exist
[ERROR] [1714794213.958184312, 0.027000000]: Updating ModelState: model [lidar] does not exist

How to add an IMU sensor

Thank for your excellent work!
I want to add an imu sensor in the simulator. I tried to use libgazebo_ros_imu_sensor.so as a plugin, but the output is wrong. So I would like to ask for some advice about adding an imu sensor. Thank you!

How to build the model?

Hi Doctor Zhu, I'd like to know how did you build those models, like garage, tunetc, etc. Did you just finish them by gazebo model editor? or is there any other software you recommend. Thank you

Frame [velodyne] does not exist

Dear authors,
Recently I was trying to add my perception package into your simulator, and would like to subscribe to the velodyne_points topic. However, I am encountering the issue saying Frame [velodyne] does not exist. Could you please help me with that?

rviz/WaypointTool not supported in Noetic: Please Fix

Hello,

I am encountering an issue while trying to run your vehicle_simulator project on ROS Noetic. Specifically, the problem lies in line 369 of the src/vehicle_simulator/rviz/vehicle_simulator.rviz file, which includes the rviz/WaypointTool. From what I understand, this tool is only available in ROS Melodic.

Tools:

• Class: rviz/MoveCamera
• Class: rviz/WaypointTool
  Topic: waypoint

As this tool is not available in the Noetic version, the project fails to run correctly on Noetic. May I ask if there are plans to fix this issue so that the project is compatible with ROS Noetic?

Your assistance in providing a fix or an updated version would be greatly appreciated.

Thank you for your time and efforts.

Best regards,

Hello, I found that: origin/rgbd_ Camera

Hello, when I checked the branch, I found: origin/rgbd_ Camera, I tried and needed a password; I would like to ask if it is open source, thank you. Wishing you success in your work!

when roslaunch vehicle_simulator system_real_robot.launch, REQUIRED process [terrainAnalysis-8] has died!

When i roslaunch vehicle_simulator system_real_robot.launch, the following problem will occur .

I tried two computers and they all have the same problem.
If remove

from the launch file, no such problem, can launch success.

How to use visualization tools

How to combine the visualization tool with other independent exploration algorithms to output the same evaluation index data?

terrainAnalysis, mistook the ground for an obstacle

thanks for your works!

My roboy's vehicleHeight = 1.2 , I replace 0.75 to 1.2 and I found the problem.
Hope recive your reply,thanks again!

a problem about Quick Start

Hi, this work is exciting, but when I follow Quick Start on the official website, rviz and gazebo crashes after launching the vehicle_simulator. Is this about Graphics driver or version of gazebo？

requires the 'use_local_planner' arg to be set

I installed autonomous_exploration_development_environment follow https://www.cmu-exploration.com/ and switch to the branch noetic_rgbd_camera.
but there is an error when I run roslaunch vehicle_simulator system_garage.launch

yx@yx-MS-7B18:/PycharmProjects/autonomous_exploration_development_environment$ source devel/setup.sh
yx@yx-MS-7B18:/PycharmProjects/autonomous_exploration_development_environment$ roslaunch vehicle_simulator system_garage.launch
... logging to /home/yx/.ros/log/2501b348-8cde-11ee-b37c-13f57abff152/roslaunch-yx-MS-7B18-229652.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: [/home/yx/PycharmProjects/autonomous_exploration_development_environment/src/vehicle_simulator/launch/system_garage.launch] requires the 'use_local_planner' arg to be set
The traceback for the exception was written to the log file

Problems running in the simulation environment

Hi,the work is excellent.But when I run the simulation environment,there were two problems above:

1、The running time of the algorithm in the third column always shows 0 instead of a fluctuating curve, where is it not set?
2、The terminal keeps reporting an error: [ERROR] Spawn service failed. Exiting. Is this a problem with sim_time in the world file?
Thanks for your answer!

How does this system work with omnidirectional wheels? It's the ability to pan left and right

How does this system work with omnidirectional wheels? It's the ability to pan left and right

ERROR: Couldn't open joystick /dev/input/js0

When I run `roslaunch vehicle_simulator system_garage.launch', the error "Couldn't open joystick /dev/input/js0. Will retry every second." appears. Does anyone have advice on solving it?

About Isaac sim for automous dirving simluation

Dear officer:
I m starting to build a simlation environment and learn from the ISAAC SIM documents for some times. But when I create my own automous driving simulation, I found that the Car can t move on the ground I imported from the URDZ file, however it can run on the default groundplane, it makes me struggle. My question is have you meet this situation before? Or the are any setting needed when import the groundplane file?
Besides, where did you learn how to use the ISAAC SIM? It seems that there are few turtorial on the Internet.
Best regards.

Running on ROS2 humble fails due to pointcloud.ply not being found

running on humble fails due to ./install/vehicle_simulator/share/vehicle_simulator/mesh/garage/preview/pointcloud.ply not being found.
it also causes gazebo not to spawn the robot correctly.
the command colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release to build it does not copy the mesh directories contents to inside of install directory.
once the files were manually copied, the problem went away.

Vehicle "stuck" in place weirdly

When I run roslaunch vehicle_simulator system_garage.launch and give a waypoint nearby, but the vechicle seems to stuck in the ground.
catkin_make in wsl, Ubuntu 20.04, ros noetic.
Only warns like:
[ WARN] [1715307491.238447200, 74.997000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame sensor_at_scan (parent map) at time 74.554000 according to authority unknown_publisher
and a error:
[ERROR] [1715307352.415537900]: Couldn't open joystick /dev/input/js0. Will retry every second.
shown up while running.

As you can see in picture, the vehicle kept jerking up and down as if it were stuck in the ground, and couldn't go far at all.

How to use terrain_analysis?

Hi, thank you for your great work. I want to apply terrain_analysis on my quadruped robot platform. But I see two include file.

Isn't this function duplicated?
And when I use terrain_analysis. I did not see green area and red area. So what parameters need to be set to adapt to my robot?

How to create one's own map for simulation?

Is there a tutorial for creating some other simulation environment other than the garage, campus, forest etc. provided by the authors? Say, starting from a locally created .pcd point cloud map file.

Instructions for building with ROS humble

Hi @HongbiaoZ, thanks for your work in this environment. I realised that there is a branch for ROS humble. But there is no instructions to build it. Thus, would like to check with you how I can build this environment for ROS2.

How to use this repository in real robotic?

Do we only need to change stateEstimationTopic and registeredScanTopic in the loam_interface.launch file in real rebotics?

About the license.

Hello.
Thank you for publishing your excellent work.

I can't find any information about the license, is it mentioned anywhere?

Dynamic setting Auto mode speed, I pub /speed topic doesn't seem to work

Dynamic setting Auto mode speed, I post /speed topic doesn't seem to work
我想动态的设置 自治模式速度 不起作用，请问是哪里不对么

Is there any related paper about Terrain Traversability Analysis?

Hi!
Appreciate for publishing your excellent work.

I've seen the Terrain Traversability Analysis part in your paper. Is there any related paper could explain its principle in detail?