ROS2部署CMU-Autonomous_Exploration_Development_Environment

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  • 环境：Ubuntu 22.04

  • ROS：Humble

安装依赖

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sudo apt update
sudo apt install libusb-dev ros-humble-desktop-full ros-humble-joy ros-humble-gazebo-msgs \
ros-humble-gazebo-plugins ros-humble-gazebo-ros ros-humble-gazebo-ros2-control \
ros-humble-gazebo-ros-pkgs python3-colcon-common-extensions

如果是Ubuntu 22.04 ROS为jazzy需要安装下面的依赖

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sudo apt update
sudo apt install ros-jazzy-desktop-full ros-jazzy-pcl-ros libpcl-dev

克隆代码

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cd ~/ros2_ws/src
git clone https://github.com/HongbiaoZ/autonomous_exploration_development_environment.git
git checkout humble # 切换到humble分支

部署仿真环境

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./src/vehicle_simulator/mesh/download_environments.sh # 下载环境模型，大约500MB

如果下载失败，可以手动下载
https://drive.google.com/file/d/1GMT8tptb3nAb87F8eFfmIgjma6Bu0reV/view?usp=sharing

解压到src/vehicle_simulator/mesh/目录下

正确解压目录结构如下：

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src/vehicle_simulator/mesh/
    indoor/
    forest/
    garage/
    campus/
    tunnel/

部署FAR_Planner

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#路径：~/ros2_ws/src/autonomous_exploration_development_environment/src/
cd ~/ros2_ws/src/autonomous_exploration_development_environment/src/
git clone https://github.com/MichaelFYang/far_planner.git
git checkout humble-jazzy

编译

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cd ~/ros2_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

运行

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source install/setup.bash
ros2 launch vehicle_simulator system_garage.launch # 启动仿真环境
ros2 launch far_planner far_planner.launch.py # 启动FAR_Planner

参考

https://drive.google.com/file/d/1a01RSrPFan9SV2g2BFP_8GGtnamAdGIc/view