OPEN: Openstreetmap-enhanced oPen-air sEmantic Navigation

OPEN is a system designed for efficient last-mile delivery using autonomous robots. It leverages OpenStreetMap (OSM) for scalable map representation, Large Language Models (LLMs) for understanding delivery instructions, and Vision-Language Models (VLMs) for localization, map updates, and house number recognition.

Installation

The current development environment is Ubuntu 22.04, ROS2 Humble, and Gazebo Classic 11.

Using Docker

This project includes a basic Dockerfile and can be used with Dev Container for simulation testing and development.

1. Install Docker and NVIDIA Container Toolkit and configure them on the host machine:

    # Docker installation
    https://docs.docker.com/engine/install/ubuntu/
    wget http://fishros.com/install -O fishros (optional)
    
    # NVIDIA Container Toolkit installation
    https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

    # nvidia-docker installation
    sudo apt install nvidia-docker2
    
    # Configure Docker container to use GPU
    sudo nvidia-ctk runtime configure --runtime=docker
    sudo systemctl restart docker
    

1. Download and install the image:

    # Download from Baidu Cloud
    Link: https://pan.baidu.com/s/1xSDHBTYh8PTt4HNBLy7FWA?pwd=emgo 
    Password: emgo 
    
    # Load the image
    docker load -i open.tar
    

1. Clone the repository:

    git clone https://github.com/EI-Nav/light-map-navigation.git --depth=1
    git submodule init
    git submodule update
    
    cd src/classic_localization/FAST_LIO/
    git submodule init
    git submodule update
    

1. Download Gazebo models and extract them to the ~/.gazebo/ directory:

    # Download from Baidu Cloud Drive (Choose one of the following):
    
    # Option 1: Complete model library (includes unused models)
    Link: https://pan.baidu.com/s/1Mkn4BHXaeWyvjxCMvw-gZQ
    Password: pp8a
    
    # Option 2: Minimal model library (recommended, contains only required models)
    Link: https://pan.baidu.com/s/1CojOxnFrJjSLM_jpmkK_KA
    Password: 49xs
    
    # After extraction, place files in
    ~/.gazebo/
    

1. Install the ms-vscode-remote.remote-containers extension in VSCode on the host machine.

2. Open this project in VSCode, press Ctrl+Shift+P, type and select Dev Containers: Rebuild and Reopen in Container.

3. Install dependencies and compile:

    # Set up your proxy
    export https_proxy=http://127.0.0.1:7890 http_proxy=http://127.0.0.1:7890 all_proxy=socks5://127.0.0.1:7890
    
    # Install dependencies
    ./build_dependencies.sh
    
    # Compile
    ./build_project.sh
    

Source Installation

1. Clone the repository:

```sh git clone https://github.com/EI-Nav/light-map-navigation.git –depth=1 git submodule init git submodule update

cd src/classic_localization/FAST_LIO/
git submodule init
git submodule update

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