手机网站关键词排名查询,用redis加速wordpress,长沙制作网页的基本步骤,衡粘水佩网站建设一、前言
EGO-Planner 浙江大学 FAST-LAB 实验室的开源轨迹规划算法是#xff0c;受到 IEEE Spectrum 等知名科技媒体的报道#xff0c;其理论技术较为前沿#xff0c;是一种不依赖于ESDF#xff0c;基于B样条的规划算法#xff0c;并且规划成功率、算法消耗时间、代价数…一、前言
EGO-Planner 浙江大学 FAST-LAB 实验室的开源轨迹规划算法是受到 IEEE Spectrum 等知名科技媒体的报道其理论技术较为前沿是一种不依赖于ESDF基于B样条的规划算法并且规划成功率、算法消耗时间、代价数值等性能方面都要高于其他几种知名算法。
而 EGO-Swarm 是基于 EGO-Planner 拓展的去中心化的无人机集群算法有助于智能小车或自主无人机集群的规划的学习与开发
由于 EGO-Planner 是 EGO-Swarm 的一部分并且他们的安装其实差别不大因此本文主要介绍 EGO-Swarm 的编译与运行参考
https://github.com/ZJU-FAST-Lab/ego-planner-swarm
https://github.com/ZJU-FAST-Lab/ego-planner
GitHub - ZJU-FAST-Lab/Fast-Drone-250: hardware and software design of the 250mm autonomous drone
由于 Jetson 系列开发板常用于当作机载电脑因此本文介绍如何在 Jetson Orin NX 开发板上编译和运行 EGO-Swarm当然本文对 EGO-Planner 同样适用。
二、编译 EGO-Swarm
首先安装依赖
sudo apt-get install libarmadillo-dev
然后创建并进入工作空间
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/src/
从 GitHub 上下载 EGO-Swarm 源码
git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
进入 EGO-Swarm 工作空间并编译
cd ~/catkin_ws/src/ego-planner-swarm
catkin_make
编译完成显示如下结果 三、运行 EGO-Swarm
接下来我们运行 EGO-Swarm主要分为仿真和实验两个部分
3.1 EGO-Swarm 仿真
首先通过快捷键 ctrl alt A 打开超级终端如果没有安装则参考下文安装
Jetson Orin NX 开发指南2: 基本环境配置_想要个小姑娘的博客-CSDN博客
将超级终端划分为两个终端全选后 source 一下工作空间终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash 在第一个终端输入
roslaunch ego_planner rviz.launch
在第二个终端输入
roslaunch ego_planner swarm.launch
如下所示 依次执行可以得到如下结果 至此EGO-Swarm 的仿真运行就实现了
3.2 EGO-Swarm 实验
由于条件有限我么在此仅仅只是将 EGO-Swarm 与 VINS-Fusion 进行连接并且这里只涉及单个无人机在这种情况下 EGO-Swarm 与 EGO-Planner 是等价的其中 EGO-Swarm 单个无人机通过 VINS-Fusion 来获取里程计信息同时通过深度相机数据来获取周围环境的情况。
3.2.1 创建文件配置
首先需要配置实验用的一些参数对应于仿真中的 advanced_param.xml 文件
其次需要配置调用 VINS-Fusion 里程计信息和 Realsense 深度相机信息的 launch 启动文件对应于仿真中的 single_run_in_sim.launch 文件
此外还需要用于可视化的 rviz 文件对应于仿真中的 default.rviz 文件
具体的配置可以参考 FAST-LAB 实验室的 fast-drone-250 中采用的 xml 和 launch 文件
GitHub - ZJU-FAST-Lab/Fast-Drone-250: hardware and software design of the 250mm autonomous drone
主要是如下三个文件 但是由于 VINS-Fusion 中里程计发布的话题是 /vins_estimator/imu_propagate而上面订阅的话题是 /vins_fusion/imu_propagate这是因为在 fast-drone-250 中vins_estimator 节点被重命名为了 vins_fusion从而产生了差异只需修改以下订阅的话题即可其余的可以不做修改当然如果标定了相机内外参以及 imu 的噪声则可以将之后的数据修改上去VINS-Fusion 或者 EGO-Swarm 上都要修改具体操作如下
在 ~/catkin_ws/src/ego-planner-swarm/src/planner/plan_manage/launch/ 路径下创建四个文件
1advanced_param_exp.xml其内容如下
launcharg namemap_size_x_/arg namemap_size_y_/arg namemap_size_z_/arg nameodometry_topic/arg namecamera_pose_topic/arg namedepth_topic/arg namecloud_topic/arg namecx/arg namecy/arg namefx/arg namefy/arg namemax_vel/arg namemax_acc/arg nameplanning_horizon/arg namepoint_num/arg namepoint0_x/arg namepoint0_y/arg namepoint0_z/arg namepoint1_x/arg namepoint1_y/arg namepoint1_z/arg namepoint2_x/arg namepoint2_y/arg namepoint2_z/arg namepoint3_x/arg namepoint3_y/arg namepoint3_z/arg namepoint4_x/arg namepoint4_y/arg namepoint4_z/arg nameflight_type/arg nameuse_distinctive_trajs/arg nameobj_num_set/arg namedrone_id/!-- main node --!-- node pkgego_planner nameego_planner_node typeego_planner_node outputscreen launch-prefixvalgrind --node pkgego_planner namedrone_$(arg drone_id)_ego_planner_node typeego_planner_node outputscreenremap from~odom_world to$(arg odometry_topic)/remap from~planning/bspline to /drone_$(arg drone_id)_planning/bspline/remap from~planning/data_display to /drone_$(arg drone_id)_planning/data_display/remap from~planning/broadcast_bspline_from_planner to /broadcast_bspline/remap from~planning/broadcast_bspline_to_planner to /broadcast_bspline/remap from~grid_map/odom to$(arg odometry_topic)/remap from~grid_map/cloud to$(arg cloud_topic)/remap from~grid_map/pose to $(arg camera_pose_topic)/ remap from~grid_map/depth to $(arg depth_topic)/!-- planning fsm --param namefsm/flight_type value$(arg flight_type) typeint/param namefsm/thresh_replan_time value1.0 typedouble/param namefsm/thresh_no_replan_meter value1.0 typedouble/param namefsm/planning_horizon value$(arg planning_horizon) typedouble/ !--always set to 1.5 times grater than sensing horizen--param namefsm/planning_horizen_time value3 typedouble/param namefsm/emergency_time value1.0 typedouble/param namefsm/realworld_experiment valuetrue/param namefsm/fail_safe valuetrue/param namefsm/waypoint_num value$(arg point_num) typeint/param namefsm/waypoint0_x value$(arg point0_x) typedouble/param namefsm/waypoint0_y value$(arg point0_y) typedouble/param namefsm/waypoint0_z value$(arg point0_z) typedouble/param namefsm/waypoint1_x value$(arg point1_x) typedouble/param namefsm/waypoint1_y value$(arg point1_y) typedouble/param namefsm/waypoint1_z value$(arg point1_z) typedouble/param namefsm/waypoint2_x value$(arg point2_x) typedouble/param namefsm/waypoint2_y value$(arg point2_y) typedouble/param namefsm/waypoint2_z value$(arg point2_z) typedouble/param namefsm/waypoint3_x value$(arg point3_x) typedouble/param namefsm/waypoint3_y value$(arg point3_y) typedouble/param namefsm/waypoint3_z value$(arg point3_z) typedouble/param namefsm/waypoint4_x value$(arg point4_x) typedouble/param namefsm/waypoint4_y value$(arg point4_y) typedouble/param namefsm/waypoint4_z value$(arg point4_z) typedouble/param namegrid_map/resolution value0.15 / param namegrid_map/map_size_x value$(arg map_size_x_) / param namegrid_map/map_size_y value$(arg map_size_y_) / param namegrid_map/map_size_z value$(arg map_size_z_) / param namegrid_map/local_update_range_x value5.5 / param namegrid_map/local_update_range_y value5.5 / param namegrid_map/local_update_range_z value4.5 / param namegrid_map/obstacles_inflation value0.299 / param namegrid_map/local_map_margin value10/param namegrid_map/ground_height value-0.01/!-- camera parameter --param namegrid_map/cx value$(arg cx)/param namegrid_map/cy value$(arg cy)/param namegrid_map/fx value$(arg fx)/param namegrid_map/fy value$(arg fy)/!-- depth filter --param namegrid_map/use_depth_filter valuetrue/param namegrid_map/depth_filter_tolerance value0.15/param namegrid_map/depth_filter_maxdist value5.0/param namegrid_map/depth_filter_mindist value0.2/param namegrid_map/depth_filter_margin value2/param namegrid_map/k_depth_scaling_factor value1000.0/param namegrid_map/skip_pixel value2/!-- local fusion --param namegrid_map/p_hit value0.65/param namegrid_map/p_miss value0.35/param namegrid_map/p_min value0.12/param namegrid_map/p_max value0.90/param namegrid_map/p_occ value0.80/param namegrid_map/min_ray_length value0.3/param namegrid_map/max_ray_length value5.0/param namegrid_map/visualization_truncate_height value1.8/param namegrid_map/show_occ_time valuefalse/param namegrid_map/pose_type value2/ param namegrid_map/frame_id valueworld/!-- planner manager --param namemanager/max_vel value$(arg max_vel) typedouble/param namemanager/max_acc value$(arg max_acc) typedouble/param namemanager/max_jerk value4 typedouble/param namemanager/control_points_distance value0.4 typedouble/param namemanager/feasibility_tolerance value0.05 typedouble/param namemanager/planning_horizon value$(arg planning_horizon) typedouble/param namemanager/use_distinctive_trajs value$(arg use_distinctive_trajs) typebool/param namemanager/drone_id value$(arg drone_id)/!-- trajectory optimization --param nameoptimization/lambda_smooth value1.0 typedouble/param nameoptimization/lambda_collision value0.5 typedouble/param nameoptimization/lambda_feasibility value0.1 typedouble/param nameoptimization/lambda_fitness value1.0 typedouble/param nameoptimization/dist0 value0.5 typedouble/param nameoptimization/swarm_clearance value0.5 typedouble/param nameoptimization/max_vel value$(arg max_vel) typedouble/param nameoptimization/max_acc value$(arg max_acc) typedouble/param namebspline/limit_vel value$(arg max_vel) typedouble/param namebspline/limit_acc value$(arg max_acc) typedouble/param namebspline/limit_ratio value1.1 typedouble/!-- objects prediction --param nameprediction/obj_num value$(arg obj_num_set) typeint/param nameprediction/lambda value1.0 typedouble/param nameprediction/predict_rate value1.0 typedouble//node/launch
2single_run_in_exp.launch其内容如下
launch!-- number of moving objects --arg nameobj_num value10 /arg namedrone_id value0/arg namemap_size_x value100/arg namemap_size_y value50/arg namemap_size_z value3.0/arg nameodom_topic value/vins_estimator/imu_propagate/!-- main algorithm params --include file$(find ego_planner)/launch/advanced_param_exp.xmlarg namedrone_id value$(arg drone_id)/arg namemap_size_x_ value$(arg map_size_x)/arg namemap_size_y_ value$(arg map_size_y)/arg namemap_size_z_ value$(arg map_size_z)/arg nameodometry_topic value$(arg odom_topic)/arg nameobj_num_set value$(arg obj_num) /!-- camera pose: transform of camera frame in the world frame --!-- depth topic: depth image, 640x480 by default --!-- dont set cloud_topic if you already set these ones! --arg namecamera_pose_topic valuenouse1/arg namedepth_topic value/camera/depth/image_rect_raw/!-- topic of point cloud measurement, such as from LIDAR --!-- dont set camera pose and depth, if you already set this one! --arg namecloud_topic valuenouse2/!-- intrinsic params of the depth camera --arg namecx value323.3316345214844/arg namecy value234.95498657226562/arg namefx value384.39654541015625/arg namefy value384.39654541015625/!-- maximum velocity and acceleration the drone will reach --arg namemax_vel value0.5 /arg namemax_acc value6.0 /!--always set to 1.5 times grater than sensing horizen--arg nameplanning_horizon value6 /arg nameuse_distinctive_trajs valuefalse /!-- 1: use 2D Nav Goal to select goal --!-- 2: use global waypoints below --arg nameflight_type value1 /!-- global waypoints --!-- It generates a piecewise min-snap traj passing all waypoints --arg namepoint_num value1 /arg namepoint0_x value15 /arg namepoint0_y value0 /arg namepoint0_z value1 /arg namepoint1_x value0.0 /arg namepoint1_y value0.0 /arg namepoint1_z value1.0 /arg namepoint2_x value15.0 /arg namepoint2_y value0.0 /arg namepoint2_z value1.0 /arg namepoint3_x value0.0 /arg namepoint3_y value0.0 /arg namepoint3_z value1.0 /arg namepoint4_x value15.0 /arg namepoint4_y value0.0 /arg namepoint4_z value1.0 //include!-- trajectory server --node pkgego_planner namedrone_$(arg drone_id)_traj_server typetraj_server outputscreen!-- remap fromposition_cmd to/setpoints_cmd/ --remap from~planning/bspline todrone_$(arg drone_id)_planning/bspline/param nametraj_server/time_forward value1.0 typedouble//node
/launch
3rviz_exp.launch 文件其内容如下
launchnode namerviz pkgrviz typerviz args-d $(find ego_planner)/launch/default_exp.rviz requiredtrue /
/launch
4default_exp.rviz 文件其内容如下
Panels:- Class: rviz/DisplaysHelp Height: 0Name: DisplaysProperty Tree Widget:Expanded:- /Global Options1- /Status1- /drone01/Planning1- /drone01/Planning1/drone_path1/Offset1- /drone01/Mapping1/map inflate1- /Odometry1/Shape1Splitter Ratio: 0.43611112236976624Tree Height: 517- Class: rviz/SelectionName: Selection- Class: rviz/Tool PropertiesExpanded:- /2D Pose Estimate1- /2D Nav Goal1- /Publish Point1Name: Tool PropertiesSplitter Ratio: 0.5886790156364441- Class: rviz/ViewsExpanded:- /Current View1Name: ViewsSplitter Ratio: 0.5- Class: rviz/TimeName: TimeSyncMode: 0SyncSource: map inflate
Preferences:PromptSaveOnExit: true
Toolbars:toolButtonStyle: 2
Visualization Manager:Class: Displays:- Alpha: 1Class: rviz/AxesEnabled: trueLength: 1Name: AxesRadius: 0.10000000149011612Reference Frame: Fixed FrameShow Trail: falseValue: true- Alpha: 0.5Cell Size: 1Class: rviz/GridColor: 160; 160; 164Enabled: trueLine Style:Line Width: 0.029999999329447746Value: LinesName: GridNormal Cell Count: 0Offset:X: 0Y: 0Z: 0Plane: XYPlane Cell Count: 1000Reference Frame: Fixed FrameValue: true- Class: rviz/GroupDisplays:- Class: rviz/GroupDisplays:- Class: rviz/MarkerEnabled: trueMarker Topic: /drone_0_ego_planner_node/goal_pointName: goal_pointNamespaces:{}Queue Size: 100Value: true- Class: rviz/MarkerEnabled: trueMarker Topic: /ego_planner_node/global_listName: global_pathNamespaces:{}Queue Size: 100Value: true- Class: rviz/MarkerEnabled: trueMarker Topic: /drone_0_ego_planner_node/optimal_listName: optimal_trajNamespaces:{}Queue Size: 100Value: true- Class: rviz/MarkerEnabled: falseMarker Topic: /ego_planner_node/a_star_listName: AStarNamespaces:{}Queue Size: 100Value: false- Class: rviz/MarkerEnabled: trueMarker Topic: /drone_0_ego_planner_node/init_listName: InitTrajNamespaces:{}Queue Size: 100Value: true- Alpha: 1Buffer Length: 1Class: rviz/PathColor: 29; 108; 212Enabled: trueHead Diameter: 0.30000001192092896Head Length: 0.20000000298023224Length: 0.30000001192092896Line Style: BillboardsLine Width: 0.10000000149011612Name: drone_pathOffset:X: 0Y: 0Z: 0Pose Color: 255; 85; 255Pose Style: NoneQueue Size: 10Radius: 0.029999999329447746Shaft Diameter: 0.10000000149011612Shaft Length: 0.10000000149011612Topic: /drone_0_odom_visualization/pathUnreliable: falseValue: trueEnabled: trueName: Planning- Class: rviz/GroupDisplays:- Alpha: 1Autocompute Intensity Bounds: trueAutocompute Value Bounds:Max Value: 1.565000057220459Min Value: 0.06499999761581421Value: trueAxis: ZChannel Name: intensityClass: rviz/PointCloud2Color: 29; 108; 212Color Transformer: AxisColorDecay Time: 0Enabled: trueInvert Rainbow: falseMax Color: 255; 255; 255Min Color: 0; 0; 0Name: map inflatePosition Transformer: XYZQueue Size: 10Selectable: trueSize (Pixels): 3Size (m): 0.15000000596046448Style: BoxesTopic: /drone_0_ego_planner_node/grid_map/occupancy_inflateUnreliable: falseUse Fixed Frame: trueUse rainbow: trueValue: trueEnabled: trueName: Mapping- Class: rviz/GroupDisplays:- Class: rviz/MarkerEnabled: trueMarker Topic: /drone_0_odom_visualization/robotName: robotNamespaces:{}Queue Size: 100Value: true- Class: rviz/ImageEnabled: falseImage Topic: /drone_0_pcl_render_node/depthMax Value: 1Median window: 5Min Value: 0Name: depthNormalize Range: trueQueue Size: 2Transport Hint: rawUnreliable: falseValue: falseEnabled: trueName: SimulationEnabled: trueName: drone0- Class: rviz/ImageEnabled: falseImage Topic: /camera/depth/image_rect_rawMax Value: 1Median window: 5Min Value: 0Name: ImageNormalize Range: trueQueue Size: 2Transport Hint: rawUnreliable: falseValue: false- Alpha: 1Buffer Length: 1Class: rviz/PathColor: 25; 255; 0Enabled: trueHead Diameter: 0.30000001192092896Head Length: 0.20000000298023224Length: 0.30000001192092896Line Style: LinesLine Width: 0.029999999329447746Name: PathOffset:X: 0Y: 0Z: 0Pose Color: 255; 85; 255Pose Style: NoneQueue Size: 10Radius: 0.029999999329447746Shaft Diameter: 0.10000000149011612Shaft Length: 0.10000000149011612Topic: /vins_estimator/pathUnreliable: falseValue: true- Angle Tolerance: 0.10000000149011612Class: rviz/OdometryCovariance:Orientation:Alpha: 0.5Color: 255; 255; 127Color Style: UniqueFrame: LocalOffset: 1Scale: 1Value: truePosition:Alpha: 0.30000001192092896Color: 204; 51; 204Scale: 1Value: trueValue: trueEnabled: trueKeep: 1Name: OdometryPosition Tolerance: 0.10000000149011612Queue Size: 10Shape:Alpha: 1Axes Length: 0.5Axes Radius: 0.20000000298023224Color: 255; 25; 0Head Length: 0.30000001192092896Head Radius: 0.10000000149011612Shaft Length: 1Shaft Radius: 0.05000000074505806Value: AxesTopic: /vins_estimator/odometryUnreliable: falseValue: trueEnabled: trueGlobal Options:Background Color: 255; 255; 255Default Light: trueFixed Frame: worldFrame Rate: 30Name: rootTools:- Class: rviz/InteractHide Inactive Objects: true- Class: rviz/Select- Class: rviz/FocusCamera- Class: rviz/Measure- Class: rviz/SetInitialPoseTheta std deviation: 0.2617993950843811Topic: /initialposeX std deviation: 0.5Y std deviation: 0.5- Class: rviz/SetGoalTopic: /move_base_simple/goal- Class: rviz/PublishPointSingle click: trueTopic: /clicked_pointValue: trueViews:Current:Class: rviz/ThirdPersonFollowerDistance: 14.900397300720215Enable Stereo Rendering:Stereo Eye Separation: 0.05999999865889549Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseField of View: 0.7853981852531433Focal Point:X: -1.706774115562439Y: -2.435426712036133Z: 5.149927346792538e-06Focal Shape Fixed Size: trueFocal Shape Size: 0.05000000074505806Invert Z Axis: falseName: Current ViewNear Clip Distance: 0.009999999776482582Pitch: 1.0197973251342773Target Frame: Fixed FrameYaw: 3.5065858364105225Saved:- Class: rviz/FPSEnable Stereo Rendering:Stereo Eye Separation: 0.05999999865889549Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseInvert Z Axis: falseName: FPSNear Clip Distance: 0.009999999776482582Pitch: 0.4000000059604645Position:X: -11Y: 0Z: 8Roll: 0Target Frame: my_viewYaw: 0- Class: rviz/FPSEnable Stereo Rendering:Stereo Eye Separation: 0.05999999865889549Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseInvert Z Axis: falseName: FPSNear Clip Distance: 0.009999999776482582Pitch: 0.5Position:X: -10Y: 0Z: 10Roll: 0Target Frame: my_viewYaw: 0- Class: rviz/FPSEnable Stereo Rendering:Stereo Eye Separation: 0.05999999865889549Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseInvert Z Axis: falseName: FPSNear Clip Distance: 0.009999999776482582Pitch: 0.6000000238418579Position:X: -10Y: 0Z: 10Roll: 0Target Frame: my_viewYaw: 0
Window Geometry:Displays:collapsed: falseHeight: 668Hide Left Dock: falseHide Right Dock: falseImage:collapsed: falseQMainWindow State: 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:collapsed: falseTime:collapsed: falseTool Properties:collapsed: falseViews:collapsed: falseWidth: 608X: 1265Y: 60depth:collapsed: false
修改完成后保存即可
3.2.2 VINS-Fusion-gpu EGO-Swarm 实验
接下来我们先运行 Realsense 和 VINS-Fusion-gpu如果没有安装 Realsense 和 VINS-Fusion-gpu参考以下两篇文章
Jetson Orin NX 开发指南4: 安装 CUDA 和 Realsense_想要个小姑娘的博客-CSDN博客
Jetson Orin NX 开发指南6: VINS-Fusion-gpu 的编译和运行_想要个小姑娘的博客-CSDN博客
首先打开超级终端划分为四个终端
然后在第一个终端输入
roslaunch realsense2_camera rs_camera.launch
在第二个终端输入
source ~/catkin_ws/src/vins-fusion-gpu/devel/setup.bash
roslaunch vins realsense_d435i.launch
第三个终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash
roslaunch ego_planner single_run_in_exp.launch
第四个终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash
roslaunch ego_planner rviz_exp.launch
如下所示 依次运行后显示如下结果
