Prometheus_SLAM

Prometheus_SLAM is a centralized multi-robot collaborative dense slam framework based on Voxblox and Voxgraph. The pose estimator on the agent side is VINS-Fusion-GPU and can be easily changed to other state of the art pose estimators.

1.Prerequisites

• Ubuntu 20.04
• ROS Noetic
• CUDA 11.x (do not install version higher than 11)

2.Building Prometheus_SLAM

Init workspace

mkdir ~/Prometheus_SLAM_ws 
cd ~/Prometheus_SLAM_ws && mkdir src 
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src
git clone https://github.com/senselabrobo/Prometheus_SLAM.git
cd ..

(1)build opencv3_catkin

catkin build -j opencv3_catkin

(2)build ceres_catkin

catkin build -j ceres_catkin

(3)build rest packages

catkin build -j cv_bridge_new prometheus_slam vins_client_server pose_graph_backend image_undistort camera_models vins loop_fusion

3.Run EuRoC Dataset (2 agents)

1. Download EuRoC dataset rosbag files (eg. MH_01 & MH02).
2. Change the corresponding bag_file path in src/Prometheus_SLAM/prometheus_slam/prometheus_slam/launch/euroc/run_prometheus_slam_euroc.launch, then run:

cd ~/Prometheus_SLAM_ws
source devel/setup.bash
roslaunch prometheus_slam run_prometheus_slam_euroc.launch

4.Run Agents and Server Seperately (EuRoC Dataset)

On server side, press Ctrl+Alt+T to open a new terminal, then run

cd ~/Prometheus_SLAM_ws
source devel/setup.bash
roslaunch prometheus_slam run_prometheus_slam_euroc_server.launch

On agent0 side, press Ctrl+Alt+T to open a new terminal, then run

cd ~/Prometheus_SLAM_ws
source devel/setup.bash
roslaunch prometheus_slam run_prometheus_slam_euroc_client0.launch

On agent1 side, press Ctrl+Alt+T to open a new terminal, then run

cd ~/Prometheus_SLAM_ws
source devel/setup.bash
roslaunch prometheus_slam run_prometheus_slam_euroc_client1.launch

5.Run Agents and Server on different PCs

• All PCs need to be in the same network!
• Find the IP address of the PC intented to run the server and agents using ifconfig. Make sure to pick the IP from the wireless interface.
• On each agent PC, add below lines into ~/.bashrc

export ROS_MASTER_URI=http://IP_OF_SERVER:11311
export ROS_IP=IP_OF_EACH_AGENT

• On Server PC, add below lines into ~/.bashrc

export ROS_MASTER_URI=http://IP_OF_SERVER:11311
export ROS_IP=IP_OF_Server

• Start a roscore on the Server PC.
• Then start server and agents as in section 4.

6.Using your own Camera&IMU

For using your own camera&imu, you need to change corresponding calibration files and corresponding sensor ros topics:

• For each agent x, change calibration file and camera&imu ros topic in src/Prometheus_SLAM/VINS-Fusion-gpu/config/euroc/euroc_stereo_imu_config_x.yaml, and change the pointcloud ros topic in src/Prometheus_SLAM/prometheus_slam/prometheus_slam/launch/firefly/prometheus_slam_client.launch
• For Server, change calibration file cam_config in src/Prometheus_SLAM/prometheus_slam/prometheus_slam/launch/utils/pose_graph_backend_gpu.launch