adeeb10abbas/outdoor_ros2

A ROS2 based repository for outdoor SLAM and navigation at DWSL and Zhou Robotics, Drexel

Outdoor SLAM and Autonomous Navigation

This is the mono repo for the outdoor SLAM and Autonomous Navigation project at Drexel University. The project is a collaboration between Drexel Wireless Systems Lab and Zhou Robotics Lab at Drexel College of Engineering.

Supported Configurations:

• Ubuntu 22.04 + ROS2 Humble
• Ubuntu 20.04 + ROS2 Rolling
• Architecture: x86_64 (amd64), aarch64 (experimental) and Mac M1/Apple Silicon (all plannning/* targets)
• Bazel >= 5.0

Steps to build and run the projects

• Run the ros-humble-install.sh for installing all the prereqs needed!

• To build: bazel build <target> and to run bazel run <target>; For more please read the Bazel documentation. For building the whole repo, run bazel build ...

• [Optional/Skip unless you know what you are doing] If you want to create an overlay ROS2 workspace and use the that. You can use outdoor.repos to pull in the required packages via the following steps-

  mkdir -p outdoor_ws/src
  cd outdoor_ws
  vcs import < `path_to_this_repo`/outdoor.repos src 
  sudo apt-get update
  rosdep init #(if not already done)
  rosdep update
  rosdep install --from-paths src --ignore-src -r -y
  colcon build --symlink-install

  • Bind a local ROS 2 workspace underlay in your WORKSPACE (given in the root of this project):

    ros2_local_repository(
        name = "ros2",
        workspace = ["/opt/ros/<distro>", "<path_to_your_outdoor_ws>/install"],
    )

    NOTE: Multiple ROS workspaces can be added and just need to be added as a string in a workspace list as shown.

Features

• Created an example directory to show how to pull in and build external useful libs like drake-ros, drake, OpenCV and use it in your project for both Python and C++ targets.
• This package uses Bazel ROS2 rules from drake-ros
• List of external packages being pulled in currently and available to use:
  • drake
  • drake-ros
  • Mujoco
  • via bazel-deps:
    • opencv
    • ffmpeg (and many codecs)
    • gstreamer (and many of its plugins, including X output)
    • eigen
    • boost
    • fmt
  • Python3 (3.10) packages: See requirements.txt

Maintainers:

• Adeeb Abbas: @adeeb10abbas

outdoor_ros2's Issues

Add a urdf/sdf models directory

and import it into a cpp file as an example with the relevant BUILD file changes

[DWSL] Create a Bazel filegroup for sample data

For it to be used for development for Variot development

[Feature] Use env vars to source in ROS underlay ws

Predictive Sampling for motion planning

All the robot hardware code will be in some directory like hardware/ etc.

• #24
• #25
• #26
• #27
• [Bonus] #28

VarIoT ROS2 Development

This is a meta issue tracking the development of VarIoT ROS2 development.

1. #4
2. #5
3. #6

In Progress/TODO-
4) #8

ROS node for predictive sampling-based motion planning

Create a ROS node that implements the sampling algorithm: The node should subscribe to relevant sensor topics and use the data to update the robot's state. It should also use the OptimizePolicy function to compute the optimal policy for the current state and publish the actions to be taken to another topic.

Reference -

1. Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
2. Mujoco Model Predictive Control

Other planners in MJPC

It would be nice to have both ILQG and Gradient descent and be able to use them with the rest of the ROS ecosystem we have.
Ideally, we could package everything up and publish a ROS package.

Mecanum wheel, A* example

Add an example that uses an URDF of a mecanum wheel robot base and use A* algorithm to move the robot in RViz.
The issue requires the use of Bazel build system. Please see examples in the Drake-ROS project here for reference

Fix Mujoco dlopen issue

Fix Mujoco dlopen issueAdd mujoco2.3.2 support to the repository.
/CC: @adeeb10abbas

Controller and planner working in rviz2/simulation + R2 robot

Building upon #24 and #25 --

We will develop the algorithm in simulation it works as expected before moving to hardware. Working hardware is a must for this ticket to be solved.

ROS node for publishing state and sensor fusion

Should use the IMUs and the cameras to create a state space and publish -
𝑋, 𝑌, 𝑍, 𝑟𝑜𝑙𝑙, 𝑝𝑖𝑡𝑐ℎ, 𝑦𝑎𝑤, 𝑋˙, 𝑌˙, 𝑍˙,𝑟𝑜𝑙𝑙˙, 𝑝𝑖𝑡𝑐ℎ˙, 𝑦𝑎𝑤˙, 𝑋¨, 𝑌¨, 𝑍¨

http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html

[Feature: ROS2] Use VCS to pull the external ROS2 repos

Allows the affordance to easily pull in all the relevant external ros2 packages in your own overlay workspace and helps in minimizing changes to the global ROS2 installation on the system.

Add VarIoT/DWSL specific documentation

Dockerization!

Will make it nice and easy to reproduce

Visualize trajectories in rviz2

Building upon #25 - using the planner it would be nice to be able to visualize trajectories.

Websocket Server to handle date from the robot and pass it on to thingsboard

This issue will finish the abstracted network layer to be able to work with the existing ThingsBoard server at DWSL.

AARCH64 Support

My initial analysis suggests that we only need to start using opencv arm rules (or pull in the binaries)...
Other than that, all targets already support arm. Let's just push through this, so that we're done once and for all.

cc/ @sidor926 can you take a lead on this?

Demo with the Nodes between computer <> VarIoT Base Station

Add WebSocket Support to VarIoT ROS2 Node

Add websocket support so that dwsl/variot/ nodes can communicate with the base station.

Reference -

1. ROS Indexed Package: ROSBridge
2. ROSBridge GitHub Repo

Should avoid using unstable commits for repositories

FYI @adeeb10abbas from Drake Slack post, I saw following:
https://github.com/Zhourobotics/outdoor_slam_ros2/blob/74706d4d37566ebe03847ce54a9aebf66fdd6012/WORKSPACE#L75-L78

This will hurt reproducibility as users who did not fetch the given sha256 at that time will get cache miss errors from Bazel fetching.
I strongly recommend using full git SHA1's or version tags.

$ git diff -U1
diff --git a/WORKSPACE b/WORKSPACE
index 115be6c..07bde80 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -76,4 +76,4 @@ add_default_workspace()
 ## Adding Bazel_ROS2_Rules for drake-ros stuff to work ##
-DRAKE_ROS_commit = "main"
-DRAKE_ROS_sha256 = "b819c470da68e525201585524479bd42bd79daacfaa2729cb2f32757fc62052c"
+DRAKE_ROS_commit = "9171963955936ed2fbc853f1f2ae8ede1836e92d"
+DRAKE_ROS_sha256 = "08b08027afb06a55e9f1b3aa14186e9e48f24fb58332d8b7b8018eeeb2db70e6"

If it helps, here's how I fetch:
https://github.com/EricCousineau-TRI/repro/blob/50c3f52c6b745f686bef9567568437dc609a7f91/bazel/bazel_hash_and_cache.py
(be sure to also use fake_bazel_workspace)

$ cd drake-ros
$ git rev-parse HEAD
9171963955936ed2fbc853f1f2ae8ede1836e92d
$ bazel_hash_and_cache.py RobotLocomotion/drake-ros@9171963955936ed2fbc853f1f2ae8ede1836e92d
...
sha256: 08b08027afb06a55e9f1b3aa14186e9e48f24fb58332d8b7b8018eeeb2db70e6