as_drone_ws24

TUM - Autonomous Systems

Group 12

• Xuanyi Lin ([email protected]) (github username: xlin98)
  • mapping_pkg (PCD, OctoMap), pathplanning_pkg
• Jiaxiang Yang ([email protected]) (github username：Druck99)
  • mapping_pkg (PCD, OctoMap), trajectory_generator
• Yicun Song ([email protected]) (github username：zoey345)
  • pathplanning_pkg
• Enze Wang ([email protected]) (github username：ENzeNE-max)
  • trajectory_generator
• Mohammadali Rahmati ([email protected]) (github username：MART98)
  • state_machine_pkg, light_detector_pkg

Table of contents

1.Introduction

1. Introduction

This repository provides ROS packages for autonomous drone exploration in a Unity cave environment. Using a depth camera and OctoMap, the drone generates a 3D Voxel Grid, detects unexplored areas, and plans paths via RRT*. The paths are converted into executable trajectories using mav_trajectory_generation, enabling efficient navigation. Additionally, a semantic camera detects and locates four target objects (lanterns).

1.1. Reused external libraries

• Depth Image Proc (https://wiki.ros.org/depth_image_proc)

• OctoMap (https://github.com/OctoMap/octomap)

• Point Cloud Library (PCL) (https://github.com/PointCloudLibrary/pcl)

• Pcl-Optics (https://github.com/Nandite/Pcl-Optics/tree/master)

• Open Motion Planning Library (OMPL) (https://github.com/ompl/ompl)

• Flexible Cloud Library (FCL) (https://github.com/flexible-collision-library/fcl)

• OctomapPlanner (https://github.com/ArduPilot/OctomapPlanner)

• MAV Trajectory Generation (https://github.com/ethz-asl/mav_trajectory_generation)

1.2. own packages

• state_machine_pkg
• pathplanning_pkg
• trajectory_generator
• light_detector_pkg

2. Installation guide

2.1. System requirement

• Ubuntu 20.04 setup guide link: https://releases.ubuntu.com/focal/
• ROS Noetic setup guide link: https://wiki.ros.org/noetic/Installation/Ubuntu

2.2. Installing dependencies

updating

sudo apt-get update
sudo apt-get upgrade

installing requireded basic tools .

sudo apt install git wstool wget libtool apt-utils python3-catkin-tools

installing depth_image_proc package

sudo apt install ros-noetic-depth-image-proc

installing octomap and octomap_mapping packages

sudo apt-get install ros-noetic-octomap ros-noetic-octomap-mapping

installing Open Motion Planning Library (OMPL) and Flexible Cloud Library (FCL)

sudo apt-get install ros-noetic-ompl ros-noetic-fcl

2.3. Building project

Open a terminal and clone the project repository (branch: drone)

git clone [email protected]:zoey345/as_drone_ws24.git

Download simulation.zip from the folowing link.

• https://syncandshare.lrz.de/getlink/fi7Vw11aA5WwyMBRPVQYun/

Copy the content \Simulation_Data\sharedassets0.assets.resS into

as_drone_ws24/catkin_ws/src/simulation/Simulation_Data

Set the Simulation.x86_64 as executable

cd as_drone_ws24/catkin_ws/src/simulation
chmod +x Simulation.x86_64 

Build the project

cd ../..
catkin build

3. Launching the simulation

running the simulation

source devel/setup.bash
roslaunch launch_pkg launch.launch