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ros_isaac_drone

This repository is part of the GRADE project

This is the repository containing the catkin_ws that has been used in the GRADE project to control the robot during the dataset generation.

It will download automatically our FUEL fork (here), our custom controller and the other necessary packages with the corresponding edits.

The main edits we did regard:

  • modular topic names (all should be published to /my_robot_x/...)
  • remove the dependence of FUEL to its own simulation. Therefore it can now work with Isaac Sim or any other simulation tools (e.g. Gazebo)
  • tune some parameters

Installation instructions

Download and install nlopt https://github.com/stevengj/nlopt.git

Create your catkin workspace and clone this repository git clone [email protected]:eliabntt/ros_isaac_drone.git --recursive

Install dependencies:

sudo apt install libdw-dev
sudo apt-get install liblapacke-dev
rosdep install --from-paths src --ignore-src -r -y

Build with catkin build moveit_core && source ~/catkin_ws/devel/setup.bash && catkin build

Be sure to FIRST BUILD moveit_core and THEN source the env and THEN build everything else

Run instructions

For further instructions see the corresponding packages.

In general the placement can be run with roslaunch collision_check collision_check.launch robot_mesh_path:=...

The exploration software can be run with roslaunch exploration_manager my_exploration.launch box_min_x:=--- box_min_y:=--- box_min_z:=--- box_max_x:=--- box_max_y:=--- box_max_z:=--- mav_name:=--- --> will launch FUEL and the custom controller package.

To launch just the controller roslaunch custom_joint_controller_ros publish_joint_commands_node.launch position_limit_x:=--- position_limit_y:=--- position_limit_z:=--- robot_id:=--- frame_id:=---

CITATION

If you find this work useful please cite our work as

@misc{https://doi.org/10.48550/arxiv.2303.04466,
  doi = {10.48550/ARXIV.2303.04466},
  url = {https://arxiv.org/abs/2303.04466},
  author = {Bonetto, Elia and Xu, Chenghao and Ahmad, Aamir},
  keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences},
  title = {GRADE: Generating Realistic Animated Dynamic Environments for Robotics Research},
  publisher = {arXiv},
  year = {2023},
  copyright = {arXiv.org perpetual, non-exclusive license}
}