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GATSBI

GATSBI folder contains GATSBI Algorithm AirSim_MoveIt folder contains the AirSim and MoveIt integrated ROS package DJI_MoveIt folder contains the DJI SDK and MoveIt integrated ROS package

Running GATSBI in Simulation

Required Simulation Packages

Start AirSim in Unreal Engine environment

Run AirSim ROS Wrapper in 1st terminal

roslaunch airsim_ros_pkgs airsim_node.launch

Launch OctoMap GATSBI launch file in 2nd terminal. This runs the following:

  • Envrionment Octomap
  • Bridge Segmented Octomap
  • Ground Filter
  • Visited Points Tracker
roslaunch octomap_server octo_gatsbi.launch

Run GTSP solver in 3rd terminal

rosrun gtsp gtsp_solver

Launch MoveIt configuration in 4th terminal

roslaunch airsim_moveit_config gatsbi.launch

Run AirSim + MoveIt Client in 5th terminal

rosrun airsim_moveit_navigation airsim_navigator

Run GATSBI

rosrun octomap_server airsim_MODGATSBI

gatsbi's People

Contributors

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Stargazers

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Watchers

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Forkers

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