2122_MultiDroneIndoorSLAM

Code for 21/22 MQP and DRs on Multi Drone Indoor SLAM

Quick Start

For rapid development, you can build this project in a container. This requires Docker Compose, which can be installed here.

IMPORTANT: Running this project inside a container will significantly contrain performance. These images are designed for development and demo perposes only.

# From within the project's root directory
docker-compose up

This builds a custom image based on ubuntu LTS along with all the software required for this project, such as: ROS Noetic, ARGos, Gazebo etc.

Interact with the container's Full Desktop Environment via browser at http://localhost:8080/vnc.html

Or attach a shell session:

docker exec -it 2122_multidroneindoorslam_novnc_1 /bin/bash

If you see an error 2122_multidroneindoorslam-novnc-1 | standard_init_linux.go:228: exec user process caused: no such file or directory (possibly while running on Windows)

Change the file entrypoint.sh end of line conversion from CRLF to LF

Local Setup

NOTE: We are using Ubuntu 20.04 for this example

1. Follow the instructions for installing ROS Noetic and Gazebo

2. Install project dependencies: turtlebot3 and dwa_local_planner

sudo apt install ros-noetic-turtlebot3 ros-noetic-dwa-local-planner 

3. Create a workspace and clone the repository

# Create a workspace
# (not needed if you already have a working workspace)
mkdir -p ~/catkin_ws/src 

# Clone the shared repository in the src directory
# Cloning with an option --recurse-submodules is necessary, as we have some git submodules
cd ~/catkin_ws/src 
git clone --recurse-submodules https://github.com/NESTLab/2122_MultiDroneIndoorSLAM.git

# Install local dependencies
rosdep install --from-paths ./ --rosdistro noetic -y

# Compile the repository
cd ~/catkin_ws
catkin_make

# Add the sourcing of workspace in bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

# Specify the turtlebot3 model you'd like to use
# options: burger | waffel | waffle_pi
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

Test run turtlebot in dan's huge maze

• Test if the turtlebot3 launches all right with the command:
• It should launch gazebo sim of the Dan's maze with one robot in it
• It should also start to explore on its own

roslaunch turtlebot3_gazebo multi_turtlebot3_all.launch 

These instructions worked on my (Ashay's) PC. Let me know if anything needs to be changed

Instructions

Make Ros Package

$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cp -r multi_map_ros ~/catkin_ws/src/
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

Startup Ros (In The Background)

$ roscore 2>&1 &

Run a package

$ rosrun <package> <node_file_name>
$ rosrun multi_map_ros multi_map_node.py

Debugging

rosnode # list | show | info ...

rosmsg # list | show | info ...

rosrun [--prefix cmd] [--debug] PACKAGE EXECUTABLE [ARGS]

rostopic echo <pub or sub name>