OAC_Planner

This project is a planning algorithm for crawler robots with swing arms to cross and avoid obstacles in complex unstructured scenes, the full name is obstacle avoidance and obstacle crossing planner(OAC_Planner)

Getting Started

Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04

ROS >= noetic. ROS Installation.

1.2. PCL && Eigen

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

1.3. livox_ros_driver(optical)

Follow livox_ros_driver Installation.

Remarks:

The overall planner is based on the FAST_LIO and LIO_SAM SLAM method to complete the positioning and mapping, and the FAST_LIO is completely based on the Livox series of radars, so if you use the SLAM algorithm in the project or other SLAM algorithms based on Livox radar, you need to install Livox ROS Driver.

1.4 GTSAM

Gtsam >= 4.0.0 Follow Gtsam Installation.

1.5 Necessary Package

sudo apt-get install ros-noetic-ompl
sudo apt-get install ros-noetic-robot-state-publisher*
sudo apt-get install ros-noetic-joint-state-controller*
sudo apt-get install ros-noetic-controller*
sudo apt-get install ros-noetic-velocity-controllers*
sudo apt-get install ros-noetic-eigen*
sudo apt-get install ros-noetic-velodyne*
pip install casadi


sudo apt-get install ros-noetic-geographic-*
sudo apt-get install geographiclib-*
sudo apt-get install libgeographic-*

sudo apt-get install ros-noetic-rviz-visual-tools

Installing

Step.1

Clone the repository and catkin_make.

mkdir -p OAC_Planner/src
cd OAC_Planner/src/
catkin_init_workspace
git clone https://github.com/xxkklose/OAC_Planner.git
cd ..
catkin_make

Step.2

1. Start with a dataset

cd OAC_Planner
source devel/setup.bash
roslaunch planner bringup.launch

2. Start with a Livox series Lidar(Defult mid360)

cd OAC_Planner
source devel/setup.bash
roslaunch planner mid360.launch