This is a public, simplified version of a project originally developed with Emanuele Giacomini.
The original private repository can be found here.
This version contains only the parts suitable for public sharing and demonstration purposes.
Optimal path finding algorithm for outdoor MAV rescue scenarios in Gazebo.
In this work, we present a Motion Planner for MAVs with which the user may interact to find an escape route from his position to an arbitrary target position chosen by him. The purpose of the Planner is to explore the environment in search of a viable path for the user, so it is able to detect and avoid any obstacles present. The planning system is coupled to the SLAM pipeline RTabMap o ensure the construction and localization of a procedural map, elaborated during the exploration phase of the MAV/UAV. To validate the proposed architecture, we performed a simulation on Gazebo based on the framework RotorS.
Build and Run All Containers
Choose a map from the one listed in the hook brackets <> and run the commands:
cd EAI_MavSLAM/
sudo bash launcher.sh -w <stock,stock2,basic,yosemite,powerplant,outdoor,..>
Build and Run Separate Containers
Choose a container from the hook brackets ( 1-gazebo, 2-planner, 3-rtabmap ) and run the commands:
cd EAI_MavSLAM/
sudo bash launcher.sh -w <basic,yosemite,powerplant,..> -c <1,2,3>
It may happen that some contaiers stop badly, then you need to exit from those contaiers. To exit from all running containers run:
sudo docker stop $(sudo docker ps -a -q)
Interface
To set a goal, run from a new terminal:
rostopic pub /goal
and pres tab until the payload is generated:
rostopic pub /goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0"
modify the paylod and press enter.
To visualize the octomap built from Rviz press Add > By DIsplay Type > ColorOccupancyGrid then from the left panel ColorOccupancyGrid > OctomapTopic and select /rtabmap/octomap_full.
To visualize the MAV motion graph from Rviz press Add > By Topic > /planner_visualization_marker > MarkerArray.
To visualize the optimal path from Rviz press Add > By Topic > /a_star > MarkerArray.