Outdoor SLAM and Autonomous Navigation

This is the mono repo for the outdoor SLAM and Autonomous Navigation project at Drexel University. The project is a collaboration between Drexel Wireless Systems Lab and Zhou Robotics Lab at Drexel College of Engineering.

Supported Configurations:

Ubuntu 22.04 + ROS2 Humble
Ubuntu 20.04 + ROS2 Rolling
Architecture: x86_64 (amd64), aarch64 (experimental) and Mac M1/Apple Silicon (all plannning/* targets)
Bazel >= 5.0

Run the ros-humble-install.sh for installing all the prereqs needed!
To build: bazel build <target> and to run bazel run <target>; For more please read the Bazel documentation. For building the whole repo, run bazel build ...
[Optional/Skip unless you know what you are doing] If you want to create an overlay ROS2 workspace and use the that. You can use outdoor.repos to pull in the required packages via the following steps-
```
mkdir -p outdoor_ws/src
cd outdoor_ws
vcs import < `path_to_this_repo`/outdoor.repos src 
sudo apt-get update
rosdep init #(if not already done)
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
```
- Bind a local ROS 2 workspace underlay in your WORKSPACE (given in the root of this project):
```
ros2_local_repository(
    name = "ros2",
    workspace = ["/opt/ros/<distro>", "<path_to_your_outdoor_ws>/install"],
)
```
  NOTE: Multiple ROS workspaces can be added and just need to be added as a string in a workspace list as shown.

Created an example directory to show how to pull in and build external useful libs like drake-ros, drake, OpenCV and use it in your project for both Python and C++ targets.
This package uses Bazel ROS2 rules from drake-ros
List of external packages being pulled in currently and available to use:
- drake
- drake-ros
- Mujoco
- via bazel-deps:
  - opencv
  - ffmpeg (and many codecs)
  - gstreamer (and many of its plugins, including X output)
  - eigen
  - boost
  - fmt
- Python3 (3.10) packages: See requirements.txt