ntnu-arl/gbplanner_ws

Simulation workspace for gbplanner_ros package

gbplanner_ws's Issues

Catkin : command not found

Hello everyone!,

I had followed the instructions given on the repository and while performing the last two lines to build the repository the following error pops us :

Please provide a resolution for this. Thanks!

Sim does not start as expected?

Hi, I tried out this planner following the instruction here(https://www.autonomousrobotslab.com/subt-edu.html), but when I launched the system, I don't see the grid_map that pops up in the YouTube video at [0:22]. And therefore the robot does not start exploration.
(the pic is the screenshot of rviz a few minutes later the roslaunch). Can you educate me on how can I avoid/fix this ?

wstool update failure

Hi, thanks for all the amazing work. I just wanted to point out that there were 2 caveats when following the current instructions on building the repository. First of all, it must be cloned via ssh, not https since the packages.rosinstall file uses git ssh specific URLs.

That aside, the glog_catkin package specified in the packages.rosinstall does not exist under the unr-arl organization. I am guessing it is referring to this package instead. Otherwise, I was able to build the repo / workspace successfully. Just a note in case this can help someone. Thanks.

protobuf issues

Hello, guys.
This workspace seems to call different versions of protobuf.
The simulator of Gazebo in Ubuntu 18.04 calls protobuf v3.0.0;
The voxblox calls version >=v3.7( I don't know which one yet, I have v3.9.0, and it doesn't match and return build errors.)
Other packages...

Is this situation caused by newer version of voxblox and other packages?
Can somebody tell what should be the right versions of them?

And even better, make them all call protobuf v3.0.0, or else this workspace just can't work as simple as one catkin command.

The GBPlanner1 in simulation doesn't work

I followed these instruction in https://github.com/ntnu-arl/gbplanner_ws and https://github.com/ntnu-arl/gbplanner_ros/tree/master.
I compile the gbplanner1 successfully.
However,the gbplanner1 seems to didn't work.The MAV keeps on hovering around the starting point and not going forward.
The interface of rviz is as follows:

The screenshot of the terminal is as follows:


The terminal says the planner cannot found any feasible path and point is out of OcTree bounds.

Can you please tell me where is the problem?
Looking forward to your reply!

Complete SW deployment over real UAV

Hello!

First of all I want to say that I think it’s an impressive job, and I wanted to congratulate you.

I have been able to run the code perfectly on my computer using the simulation with gazebo as you propose. But in order to be able to use it with a real UAV I have some doubt about what steps it should take.

As I understand the algorithms of mapping, path-planning and exploration, you already provide them in this example but:

• How could you make the location algorithm with a real UAV? I think in this example the location is based on gazebo, so I'm trying to add an SLAM algorithm as LOAM, is that the correct way to work?
• Do you rely on the use of IMU, thermal camera and laser?
• Anything else I need to keep in mind to develop your system in a real UAV, which is not in this example about gazebo?

Another additional question is if you have implemented the code to just move the UAV to a desired position without collisions. I found the service /pci_to_waypoint to move the robot, but if I used directly this service the UAV is going to crash because the path planning is skipped.

Best regards,
Emilio

pci_mav_ros_node-16

Hi
Thank you for sharing your work. It's impressive!
I successfully built the gbplanner package on Ubuntu 18.04 (ROS melodic). I'm facing an issue while running the planner. The following message appears after generating the first path and the vehicle starts tracking it, then the vehicle stops and the message appears:

[pci_mav_ros_node-16] process has died [pid 16911, exit code -6, cmd /home/---/gbplanner_ws/devel/lib/pci_mav/pci_mav_ros_node command/trajectory:=m100/command/trajectory planner_server:=gbplanner planner_homing_server:=gbplanner/homing odometry:=m100/ground_truth/odometry_throttled __name:=pci_mav_ros_node __log:=/home/---/.ros/log/da3a5dde-dd94-11ea-ac1a-0433c2f441b5/pci_mav_ros_node-16.log].
log file: /home/---/.ros/log/da3a5dde-dd94-11ea-ac1a-0433c2f441b5/pci_mav_ros_node-16*.log

I would appreciate any help to resolve this issue.
Best regards,
Younes

how to operate on real robot?

This is a interest job and I want to operator on my Jackal, But lots of param I dont know how to set.Could you please open the params on the real robot?