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README.md

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Introduction

This is the demo repository of SSMI

Requirements

  1. Ubuntu 20.04 and ROS Noetic
  2. Gazebo Fortress Gazebo Fortress installation
  3. Othrer dependencies in submodules

Ros node:

Please source the workspace before running the nodes

  1. Terminal 1: launch the simulation node
roslaunch semantic_segmentation_husky seg_husky.launch
  1. Terminal 2: launch mapping node
roslaunch semantic_octomap semantic_octomap.launch
  1. Terminal 3: launch planning node
roslaunch semantic_info_gathering run_semantic_exploration.launch
  1. Terminal 4: launch controller
roslaunch semantic_segmentation_husky jackal_pd.launch
  1. Launch all nodes at once with scripts
./ssmi_ws/scripts/launch_ssmi_example.sh
./ssmi_ws/scripts/kill_ssmi_example.sh

TF

  1. World frame: /world
  2. Robot body frame: /base_link
  3. Camera Optical frame: /camera_optic

Docker

We also provide docker image for demo, it has been tested on Ubuntu 22.04 with Nvidia GPU. You need Nvidia driver to display the simulation. Other graphics card may work but not guaranteed.

In dockerfile we install package python-is-python3, which is not suggested to install on your host machine.

  1. Build the docker image
docker compose build
  1. Start container and run the demo
docker compose up
  1. Open container with bash
docker compose run ssmi_demo bash

Desired result

If everything is set up correctly, you shold see robot exploring around like this: demo