ut-amrl / graph_navigation

Robot graph navigation via carrot planning

AMRL Graph Navigation

System Dependencies

1. glog
2. gflags
3. Lua5.1
4. LibTorch: Requires the cxx11 ABI version libtorch. Unpack the libtorch zip file to /opt/libtorch.
5. Optional, if using libtorch with an Nvidia GPU:
   Install both CUDA and CuDNN - these are separate installations.

You can install the system dependencies on *buntu using:

sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev

ROS Dependencies

1. ROS
2. AMRL Maps
3. AMRL ROS Messages

Build

1. Add the project directory to ROS_PACKAGE_PATH:

   export ROS_PACKAGE_PATH=MYDIRECTORY:$ROS_PACKAGE_PATH
   

   (Replace MYDIRECTORY with the actual directory) You can also add this to your ~/.bashrc file so that you don't have to do this every time you open a new terminal.

2. Run git submodule update --init --recursive to pull all the submodules

3. Build the program (do not run cmake, catkin_make, rosbuild):

   make
   

   Optionally, to compile on all cores (make sure you have sufficient RAM!)

   make -j
   

Run

Run ./bin/navigation
Some helpful flags:

• _image_transport:=compressed to tell it to subscribe to the compressed stream of the image transport (useful when playing back a bag file that only included the compressed stream).
• --debug_images to show debug visualization images.