LIO-Drone-250

This repository enables fully autonomous drone flight based on Mid360. It incorporates an odometry reference from Fast-LIO2 and a planning module reference from Ego-Planner. Also, this contribution is inspired by the Fast-Drone-250 from the FAST-LAB laboratory.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 16.04

For Ubuntu 18.04 or higher, the default PCL and Eigen is enough for FAST-LIO to work normally.

ROS >= Melodic. ROS Installation

1.2. Mavros

Follow mavros_installation to install mavros:

  sudo apt install ros-melodic-mavros ros-melodic-mavros-extras
  wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
  chmod +x install_geographiclib_datasets.sh
  sudo ./install_geographiclib_datasets.sh

1.3. PCL && Eigen

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

1.4. Livox_ros_driver

Follow livox_ros_driver Installation.

Remarks:

• Since the FAST-LIO must support Livox serials LiDAR firstly, so the livox_ros_driver must be installed and sourced before run any FAST-LIO luanch file.
• How to source? The easiest way is add the line source $Livox_ros_driver_dir$/devel/setup.bash to the end of file ~/.bashrc, where $Livox_ros_driver_dir$ is the directory of the livox ros driver workspace (should be the ws_livox directory if you completely followed the livox official document).

1.5. Realsense_camera

Follow realsense_ros Installation.

Or, you can directly install the Realsense package under ROS：

    sudo apt-get install ros-melodic-realsense2-camera
    sudo apt-get install ros-melodic-realsense2-description

2.Build from source

Clone the repository and catkin_make:

    cd ~/$A_ROS_DIR$
    git clone https://github.com/zjz0001/LIO-Drone-250.git
    catkin_make
    source devel/setup.bash

• Remember to source the livox_ros_driver before build (follow 1.4 livox_ros_driver)

3.Deirctly Run

Noted:

It is necessary to start the Ego_Planner after the controller is started and the drone has risen to the specified height, otherwise it will not be able to take off or hover at the specified height！！！！

3.1 Start With the Command.

Start Odometry

First, start the mavors:

  roslaunch geometric_controller takeoff_px4.launch

Publish the lidar messages (e.g., Livox Mid-360):

  source $LIVOX_ROS_DRIVER_DIR$/devel/setup.bash
  roslaunch livox_ros_driver2 msg_MID360.launch

run Fast-LIO and camera_pose_node:

  roslaunch fast_lio mapping_mid360.launch
  roslaunch geometric_controller takeoff_vrpn.launch

Start Controller

next, run the UAV controller:

  roslaunch geometric_controller takeoff_group.launch

Then, the drone will hover at the specified position (init_position).

Start Ego-Planner

    roslaunch realsense2_camera rs_camera.launch
    roslaunch ego_planner single_run_in_exp_type1.launch

Pub Nav Goal

    rostopic pub -1 /move_base_simple/goal geometry_msgs/PoseStamped "{
    header: {
    seq: 8 ,
    stamp: {
    secs: 0.0,
    nsecs: 0.0},
    frame_id: "world" },
    pose: {
    position: {
    x: 3.0,
    y: 0.0,
    z: 0.6 },
    orientation: {
    x: 0.0,
    y: 0.0,
    z: 0.0,
    w: 1.0}
    },
    }"

Alternatively, you can run default.rviz and specify the /move_base_simple/goal position with the 2D Nav Goal, but we do not recommend doing so because it's hard to know the precise goal position this way.

3.2 Start With the Script.

    cd ~/$LIO_DRONE_250_DIR$/shfiles
    sudo chmod 777  *.sh
    ./Odom.sh
    ./Controller.sh
    ./Planner.sh
    ./pub.sh