Quick Start within 3 Minutes

Compiling tests passed on ubuntu 16.04, 18.04, and 20.04 with ros installed. You can just execute the following commands one by one.

sudo apt-get install libarmadillo-dev
git clone https://github.com/hadleyhzy34/auto-swarm.git
cd auto-swarm
catkin_make -j$(nproc)
source devel/setup.bash

Environment

PCL --version 1.8

GTSAM --version 4

VTK --version 7.1.1

ROS --version 18.04

Installation

ros(required)

sudo apt-get install ros-<distro>-desktop-full ros-<distro>-roscpp ros-<distro>-rospy ros-<distro>-nav-msgs ros-<distro>-nav-msgs
sudo apt install ros-<distro>-costmap-2d \
ros-<distro>-move-base \
ros-<distro>-global-planner \
ros-<distro>-amcl
ros-<distro>-ackermann-msgs

ros dependencies(required)

go to top of the folder and execute this command

rosdep install --from-paths src --ignore-src -r -y

vtk installation(optional)

git clone --recursive https://gitlab.kitware.com/vtk/vtk.git
mkdir build
cd build
cmake ..
make -j12
sudo make install

pcl installation(optional)

go to Github link and download certain version of PCL, uncompress the tar-gzip archive

cd pcl-pcl-1.8 && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j2
sudo make -j2 install

gtsam installation(optional)

git clone https://bitbucket.org/gtborg/gtsam.git
mkdir build
cd build
cmake ..
sudo make install

Ipopt installation(optional)

Install CPPAD & Fortran

sudo apt-get install cppad gfortran

Get ipopt source code

wget https://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.9.tgz
tar -zxvf Ipopt-3.12.9.tgz

Step by step download the libraries

cd Ipopt-3.12.9/ThirdParty/Blas
 ./get.Blas
 cd ../Lapack
 ./get.Lapack
 cd ../Mumps
 ./get.Mumps
 cd ../Metis
 ./get.Metis

cd {$CUSTOM_PATH}/Ipopt-3.12.9
mkdir build  && cd build
../configure --prefix=/usr/local
make -j$(nproc)
sudo make install

• issue: mpi.h file or dir not found: Solution: make sure third party lib Mumps is downloaded and uncompressed properly

• issue: anaconda3/lib/libfontconfig.so.1: 'FT_Done_MM_Var' undefined reference collect2: error: ld returned 1 exit status Solution:

  sudo rm /home/**/anaconda3/lib/libuuid.so.1
  sudo ln -s /lib/x86_64-linux-gnu/libuuid.so.1  /home/**/anaconda3/lib/libuuid.so.1
  

Compilation

git clone https://github.com/hadleyhzy34/auto-swarm.git
cd auto-swarm
catkin_make -j$(nproc)
source devel/setup.bash

issues and discussion

• issue1

  • issue: undefined reference to 'pcl::KdTreeFLANN'
  • solution:

  #include <pcl/search/impl/kdtree.hpp>
  #include <pcl/kdtree/impl/kdtree_flann.hpp>
  

• issue2

  • issue: error while loading shared libraries: libvtkglew-7.1.so.1: cannot open shared object file: No such file or directory
  • solution:

  sudo ldconfig -v
  

• issue3

  • issue: fatal error: multi_map_server/MultiOccupancyGrid.h: No such file or directory
  • solution:

  sudo apt-get install ros-melodic-multi-map-server
  

Components && Applications

end to end

Reinforcement Learning

• on-policy
• off-policy

Features:

• [x]parallel multi-agent training
• [ ]ground truth map label
• [x]GPU supported training and inference
• [x]sensor synchronization mechanism
• [ ]baseline methods support
• [x]Gym-like Env wrapper

Gazebo based environment wrapper

1. conda environment

conda create -n ros_tb3 pyhton=3.6.9
conda activate ros_tb3

2. pip installation

pip install torch

Env() API

Initializing Environment

from env.env import Env
env = Env(robot_namespace=None)

Standard methods

• Stepping

env.step(self, action: ActType) -> state:numpy.array, reward: float, done: bool

• Resetting

env.step(self) -> state:numpy.array

Imitation Learning

• behavior cloning
• inverse reinforcement learning

Localization && Mapping

Localization

• lidar odometry
• vision odometry
• mapping localization

Lidar Mapping

• lego-loam

Vision Mapping

Perception

Sensor Fusion

Global Planner

Local Planner

• RL path planner
• ego planner
• orca
• mpc

Controller

Pure Pursuit

PID

LQR + PID

MPC(IPOPT/C++)

MPC(Casadi/python2)

Simulation

Gazebo Simulation

turtlebot3 simulation

folder

src/simulation/turtlebot3*

instructions

vim ~/.bashrc
export TURTLEBOT3_MODEL=burger
source ~/.bashrc

• launch world env

roslaunch turtlebot3_gazebo turtlebot3_world.launch

• launch rviz visualization

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

• launch teleop key

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

• lanuch multi-robot world env

roslaunch turtlebot3_gazebo multi_turtlebot3.launch

Deployment

• GPU/CUDA
• TensoRT

How to make contributions

create a new application package

catkin_create_pkg mpc roscpp rospy std_msgs

Acknowledgements