ctu-vras / husky_sim

Navigation pipelines with Traversability Estimation tested in Gazebo simulator with Clearpath Husky robot.

RobinGas Mission Gazebo

RobinGas pipeline in Gazebo simulator, video, currently including:

• Husky robot gazebo model with sensors (including Ouster LiDAR Gazebo Plugin with GPU ray),
• Fused localization,
• Traversability estimation,
• Path planner,
• Path follower,
• Obstacle avoidance (virtual bumper).

Installation

The navigation pipeline is currently tested in simulator with Husky robot only.

• Install ROS navigation stack and Husky related packages:

  sudo apt-get install ros-$ROS_DISTRO-navigation

  Install husky simulation, reference:

  sudo apt-get install ros-$ROS_DISTRO-husky-*
  echo "export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro" >> ~/.bashrc
  source ~/.bashrc

• Configure ROS workspace. Download the package and its dependencies and build individual packages listed above.

  ws=~/catkin_ws/
  mkdir -p "${ws}/src"
  cd "${ws}/src"
  
  git clone https://github.com/ctu-vras/husky_sim
  
  wstool init
  wstool merge husky_sim/dependencies.rosinstall
  wstool up -j 4
  
  cd "${ws}"
  catkin init
  catkin config --extend /opt/ros/$ROS_DISTRO/
  catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
  catkin build -c

• Download relevant Gazebo models used in the virtual worlds and place them to $HOME/.gazebo/models/ folder.

RobinGas Navigation Pipeline

Start Gazebo simulator with Husky robot spawned:

roslaunch husky_sim husky_gazebo.launch

Launch navigation pipeline:

roslaunch husky_sim navigation.launch rviz:=true

2D-navigation Stack

Waypoints following example with laser scan SLAM (AMCL) and move_base navigation stack. Bringup simulated environment and spawn a husky robot in it.

roslaunch husky_sim husky_amcl_move_base.launch

Command a robot to visit a sequence of waypoints.

roslaunch husky_sim send_wp_sequence.launch