tup2023-sentry-nav repository

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tup2023-sentry-nav repository

No version for distro jazzy. Known supported distros are highlighted in the buttons above.

tup2023-sentry-nav repository

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tup2023-sentry-nav repository

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tup2023-sentry-nav repository

fast_lio lio_sam dll grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_filter_madgwick imu_tools costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 nav2_costmap_filters_demo nav2_gradient_costmap_plugin nav2_msg_costmap_plugin nav2_sms_behavior nav2_straightline_planner sam_bot_description spatio_temporal_voxel_layer teb_local_planner teb_msgs octomap_mapping octomap_server

Repository Summary

Description
Checkout URI	https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type	git
VCS Version	lio_WIP
Last Updated	2023-09-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
fast_lio	0.0.0
lio_sam	1.0.0
dll	1.0.0
grid_map	2.1.0
grid_map_cmake_helpers	2.1.0
grid_map_core	2.1.0
grid_map_costmap_2d	2.1.0
grid_map_cv	2.1.0
grid_map_demos	2.1.0
grid_map_filters	2.1.0
grid_map_loader	2.1.0
grid_map_msgs	2.1.0
grid_map_octomap	2.1.0
grid_map_pcl	2.1.0
grid_map_ros	2.1.0
grid_map_rviz_plugin	2.1.0
grid_map_sdf	2.1.0
grid_map_visualization	2.1.0
imu_complementary_filter	2.0.3
imu_filter_madgwick	2.0.3
imu_tools	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
nav2_costmap_filters_demo	1.0.0
nav2_gradient_costmap_plugin	1.0.0
nav2_msg_costmap_plugin	1.0.0
nav2_sms_behavior	1.0.0
nav2_straightline_planner	1.0.0
sam_bot_description	1.0.0
spatio_temporal_voxel_layer	2.2.0
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap_mapping	2.0.0
octomap_server	2.0.0

README

TUP2023-Sentry-Nav

沈阳航空航天大学TUP战队2023年哨兵导航模块

作者: 顾昊

1. 简介

该模块为哨兵导航模块，负责进行3维点云至2.5D转换,激光里程计(LIO),重定位，路径规划，让哨兵在比赛场地内可以进行自身的定位与路径规划. 该分支为LIO分支.

2.项目结构

├── dll 重定位模块
├── FAST_LIO FAST-LIO激光里程计
├── grid_map grid_map库，用于生成2.5D高程地图
├── imu_tools IMU滤波库，用于提供位姿
├── LICENSE 协议
├── LIO-SAM LIO-SAM激光里程计
├── livox_ros_driver2 livox驱动
├── navigation2 nav2库，用于导航
├── octomap_mapping PCD转八叉树地图
├── pic 图像
└── README.md 文档

3.软件设计

导航部分软件大致可分为四块:

Drivers: livox_ros_driver2, imu_tools，基本的设备驱动节点，图上未画出
LIO: FAST-LIO,LIO-SAM,dll，负责进行LIO和重定位以确定机器人位置
GridMap: grid_map,负责将点云转换为2.5D高程地图，供nav2导航使用
Nav2: nav2，本仓库的核心，负责进行最终的导航

3.1 激光里程计

激光里程计部分我们提供了FAST-LIO和LIO-SAM的实现，使用者可以自行选择，我们经过测试总结了两种算法的特点一些特点，总结在下面对比供对比参考: ||FAST-LIO|LIO-SAM| |—|—|—| |IMU|对陀螺仪数据质量要求相对较低|预积分基于gtsam库实现，对陀螺仪数据质量要求高，可能会出现IMU积分数值不稳定程序崩溃的危险| |回环检测|无|有，但退化场景下不推荐使用，存在飘飞可能| |算力需求|相对较低|相对较高|

总的来说，如果需要使用LIO-SAM,务必确保陀螺仪数据质量得到保证.

Mid360开机后振动大，对陀螺仪数据有较大影响(约为25hz正弦波，幅值±0.3m/s^2，可能是内部机械结构旋转所致).可适当进行数据处理或者使用外接陀螺仪以提高定位精度.

CONTRIBUTING

tup2023-sentry-nav repository

No version for distro galactic. Known supported distros are highlighted in the buttons above.

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tup2023-sentry-nav repository

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tup2023-sentry-nav repository

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