jackyxtt / fuel

UAV exploration system

FUEL (with SSLidar option and Gazebo Simulation)

Adapted from FUEL, an excellent drone exploration algorithm from Boyu Zhou.

Project Structure

Exploration

• exploration_manager: High-level modules that schedule and call the exploration algorithms.

• active_perception: Find and organize frontier clusters, observe and avoid unknown obstacles.

Planning

• plan_manage: High-level modules that schedule and call the mapping and planning algorithms.

• path_searching: Path searching algorithems like kinodynamic astar and topology PRM.

Mapping

• plan_env: Online mapping algorithms, build an Euclidean signed distance filed (ESDF) for the planning systems.

Running Preparation

• fuel_in_gazebo: Components required by Gazebo, like models, worlds and pulgins.

• px4_connection: Command analysis and other tools for communicate with px4 (both on sitl and onboard).

  • msg_conversion: Tools for running FUEL onboard, including keyboard control，sensor pose / control command conversion.

others

• bspline: A implementation of the B-spline-based trajectory representation.

• bspline_opt: The gradient-based trajectory optimization using B-spline trajectory.

• poly_traj, traj_utils, utils

Quick Start

Dependencies

This project has been tested on 18.04(ROS Melodic).

Before you build it using catkin_make, make sure you meet the following requirements:

1. Basic ROS Environment (recommand desktop-full)

    sudo apt-get install ros-melodic-desktop-full
   

2. PX4

   Install PX4 using v1.11.1 (with configurations of drone model Amov P450):

    git clone -b 'v1.11.1-22.7.28' --single-branch --depth 1 https://gitee.com/amovlab/prometheus_px4.git
    cd prometheus_px4
    git submodule update --init --recursive
    source ./Tools/setup/ubuntu.sh --no-nuttx
    make px4_sitl_default gazebo
   

   If you still meet python dependencies (like toml, jinja2, etc.) problems after source ./Tools/setup/ubuntu.sh , try:

    cd ~/.local
    sudo chown -R ${username} lib/
   

3. MavROS

    sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
   

4. Gazebo Plugins

   For realsense sensors and lidar Gazebo plugins, in your workspace, run:

    git clone https://github.com/SeanZsya/gazebo_pulgins
   

5. OpenGL

    sudo apt-get install build-essential libgl1-mesa-dev
    sudo apt-get install freeglut3-dev
    sudo apt-get install libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev 
   

6. GeographicLib

    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
    sudo ./install_geographiclib_datasets.sh
   

7. Other Required Tools

    sudo apt-get install libarmadillo-dev ros-melodic-nlopt libdw-dev xmlstarlet
   

8. Gazebo Models (optional)

   Clone the third-party models:

    git clone https://github.com/osrf/gazebo_models
   

   Put them in ~/.gazebo/models/

Path Setup

Add these lines to your ~./bashrc:

source ${path to your workspace}/devel/setup.bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${path to your workspace}/src/FUEL/fuel_in_gazebo/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${path to your workspace}/devel/lib

source ${path to your px4}/Tools/setup_gazebo.bash ${path to your px4} ${path to your px4}/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${path to your px4}
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${path to your px4}/Tools/sitl_gazebo

Run FUEL Simulation in Gazebo

Launch Exploration:

• For Solid-state lidar:

    roslaunch fuel_in_gazebo multi_exp_sim_sslidar.launch
  

Then follow the instructions inside the keyboard control tab, pressing R and using 2d Nav Goal in Rviz to trigger exploration.