Autonomous Navigation in Cluttered Littoral Environments

Structure:

Lidar inertial 2D SLAM

┌─────────────┐     ┌──────────────────────┐     ┌─────────────────┐
│  PLidar C1  │────▶│  rf2o_laser_odometry │────▶│                 │
│   /scan     │     │  (laser odom)        │     │  robot_locali-  │     ┌───────────────┐
└─────────────┘     └──────────────────────┘     │  sation (EKF)   │────▶│ SLAM Toolbox  │
                                                 │                 │     │  /odom        │
┌─────────────┐                                  │  Fused /odom    │     └───────────────┘
│    IMU      │─────────────────────────────────▶│                 │
│   /imu      │                                  └─────────────────┘
└─────────────┘

Lidar only 2D SLAM

┌─────────────┐     ┌──────────────────────┐     ┌─────────────────┐
│  PLidar C1  │────▶│  rf2o_laser_odometry │────▶│  SLAM Toolbox   │
│   /scan     │     │  (laser odom)        │     │  /odom          │
└─────────────┘     └──────────────────────┘     └─────────────────┘

---

Instructions:

Docker stuff:

Build docker image:

docker build -f tools/Docker/dockerfile_ros_humble_slam_toolbox/Dockerfile -t ancle_slam_toolbox_humble_image .

Starting container:

docker run -it --rm\
  --net=host \
  --env="DISPLAY=$DISPLAY" \
  --env="QT_X11_NO_MITSHM=1" \
  --env="XAUTHORITY=$XAUTH" \
  --volume="/tmp/.X11-unix:/tmp/. X11-unix:rw" \
  --runtime nvidia \
  --gpus all \
  --device=/dev/cyglidar:/dev/cyglidar \
  --device=/dev/rplidar:/dev/rplidar \
  --device=$(readlink -f /dev/cyglidar) \
  --device=$(readlink -f /dev/rplidar) \
  --device=/dev/i2c-7:/dev/i2c-7 \
  -v /home/robotuna/ANCLE:/home/ANCLE \
  --name ancle_slam_toolbox_humble_container \
  ancle_slam_toolbox_humble_image \
  bash

Container in new terminal window:

docker exec -it ancle_slam_toolbox_humble_container bash

Run lidar inertial slam

Basic launch:

ros2 launch ancle_pkg lidar_inertial_slam_launch.py

Or without rviz:

ros2 launch ancle_pkg lidar_inertial_slam_launch.py use_rviz:=false

Run lidar only slam

Basic launch:

ros2 launch ancle_pkg lidar_only_slam_launch.py 

Or without rviz:

ros2 launch ancle_pkg lidar_only_slam_launch.py use_rviz:=false

Run nav2 multi lidar inertial slam + obstacle detection

Start both lidar + lidar inertial slam:

ros2 launch ancle_pkg nav2_multi_lidar_inertial_slam_launch.py 

Once everything looks set up, start rviz:

ros2 launch nav2_bringup navigation_launch.py params_file:=/ros2_ws/src/ancle_pkg/config/nav2_config.yaml