RSPMP

RSPMP: https://link.springer.com/article/10.1007/s10489-022-03283-z

Build

environment

• OS：Ubuntu16.04 or Ubuntu18.04
• ROS: kinetic or Melodic
• Depend：octomap_server, gridmap

1. git clone [email protected]:DLonng/RSPMP.git
2. catkin_make
3. according error to apt install lib：sudo apt-get install ros-[dist]-[xxx]

Node

agilex_msgs

• custom msg for semantic pointcloud

lidar_camera_fusion

• fun: fusion pointcloud and semantic img, output semantic pointcloud
• input: raw pointcloud, raw semantic img, calibration matrix, semantic confidence
• output: semantic pointcloud

octomap_generator

• fun: based on the input semantic point cloud and localization information, real-time construction of a local semantic 3D voxel map centered around the vehicle, which is then projected into a 2D cost map for subsequent local path planning
• input: fusion semantic pointcloud, location tf
• output: semantic 3D voxel map, 2D costmap

sem_dwa_planner

• fun: incorporate DWA (Dynamic Window Approach) for local planning based on the 2D costmap, with DWA introducing semantic costs. The planning process minimizes semantic costs.
• input: 2D costmap, ego status
• output: ego control signals

semantic segmentation

This project does not provide a model for the semantic segmentation node. You can use any real-time semantic segmentation model of your choice.

Run

Mapping

1. Only mapping, you can record dataset
2. dataset topics：/raw_img, /raw_lidar, /tf，/semantic_img, /semantic_confidence
3. start fusion node：roslaunch lidar_camera_fusion lidar_camera_fusion_no_msg_sem.launch
4. start mapping node：roslaunch octomap_generator octomap_generator.launch
5. fusion + mapping：roalaunch octomap_generator octomap_generator_mapping_scout.launch

Planning

• This project does not provide a simulation. I used a vehicle directly at the time.（Agilex Scout）
• 1. roalaunch sem_dwa_planner sem_dwa_planner.launch
• start nodes in vehicle：
  1. all sensor nodes
  2. fusion node：https://www.bilibili.com/video/BV1Sp4y1S74w/?spm_id_from=333.999.0.0
  3. mapping node：https://www.bilibili.com/video/BV1Q64y1D75N/?spm_id_from=333.999.0.0
  4. planning node：https://www.bilibili.com/video/BV1eT4y1P7bZ/?spm_id_from=333.999.0.0
• set a point in rviz
• 1. roalaunch sem_dwa_planner sem_dwa_planner_tf_rviz.launch

reference project

evelation_mapping