This is a project for the course LRG6300: Autonomous Systems at the Technical University of Munich.
Task: Use a mapping approach of our choice to navigate an unknown environment
Done in collaboration with Weihang Li, Luca Obwegs, Junpeng Hu and Autumn Hong.
Please see the README's located in each of the linked packages under Setup for more details.
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Simulation (Unity environment) - Luca
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Vision - Junpeng
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Controller - Autumn
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Mapping - Shervin, Weihang
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Navigation - Shervin
We assume you are running Ubuntu 18.04 and have ROS-melodic installed.
Please follow this guide for installing ROS-melodic. In short, you need to run these commands:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
Clone the repository:
git clone [email protected]:00000000014ACFEA/autonomous-systems-2021-group-auto.git
Open a terminal and navigate to AdvancedChallenge1SimAndMapping/catkin_ws.
Run the below commands to fetch data from the submodules this project depends on:
git submodule init
git submodule update
Run catkin build to build the workspace.
You will need five terminals. In each terminal, navigate to AdvancedChallenge1SimAndMapping/catkin_ws and run source devel/setup.bash.
In different terminals, run:
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roscore -
roslaunch simulation simulation.launch -
roslaunch controller_pkg controller.launch -
roslaunch mapping mapping.launch -
roslaunch navigation navigation.launch
The raw unity files of the 200x200 environment can be downloaded from the following link:
https://www.dropbox.com/s/e4onw7ebi0lk351/Unity.zip?dl=0
The pre-compiled 200x200 unity environment can be downloaded using the following link:
https://www.dropbox.com/s/r5s11wxvnu4sm13/City_Scenary.zip?dl=0
The pre-compiled testing environment can be download using the following link:
https://www.dropbox.com/s/0q4qdkgupfe19jt/City_Scenary.zip?dl=0