Linux 35.5 + JetPack v5.1.3@RACER编译安装
1. 源由鉴于以下两个自动导航规划路径的软件在模拟环节都有差别程度的segfault，那么只能在尝试下他们的后任继承代码。
[*]Linux 35.5 + JetPack v5.1.3@Fast-Planner编译安装
[*]Linux 35.5 + JetPack v5.1.3@FUEL编译安装
现在就顺着代码指向或者历史路径找到了RACER, RApid Collaborative ExploRation。这是一种完全分散的方法，用于使用一支四旋翼飞行器队伍举行探索任务。所提出的系统具有针对不稳固通信的鲁棒性，以及高度的调和性。四旋翼团队采用异步和有限通信运作，不需要任何中央控制。为了充分发挥系统的潜力，团队的覆盖路径和工作负载分配举行了优化平静衡。
2. 编译&安装
注1：不清楚ROS版本的，请先查看下版本，留意要ROS而非ROS2。
$ rosversion --distro
noetic
注2：基于RACER最新github上的代码版本。
$ git log -n 1
commit ea774df1f1a40c0bc77dd8cbde74bfd9b8fb690f (HEAD -> main, origin/main, origin/HEAD)
Merge: d8487e2 dcd8a73
Author: Boyu Zhou <uv.boyuzhou@gmail.com>
Date: Tue Apr 23 19:20:42 2024 +0800
Merge pull request #22 from yinleung/patch-1
Update README.md
Step 1：依赖库安装
$ sudo apt-get install libarmadillo-dev ros_${ROS_VERSION_NAME}_nlopt libelf-dev libdw-dev
Step 2：LKH-3安装
LKH-3 是 LKH-2 的扩展，用于解决受约束的旅行商和车辆路径问题。
注：保举LKH-3.0.6，当前最新版本LKH-3.0.9。
$ wget http://akira.ruc.dk/~keld/research/LKH-3/LKH-3.0.6.tgz
$ tar xvfz LKH-3.0.6.tgz
$ cd LKH-3.0.6
$ make
$ sudo cp LKH /usr/local/bin
Step 3：建立工程
$ mkdir -p ${YOUR_WORKSPACE_PATH}/src
$ cd ${YOUR_WORKSPACE_PATH}/src
$ git clone git@github.com:SYSU-STAR/RACER.git
注：若存在网络问题，请使用git协议clone代码。git协议始终比https稳固，但需要留意ssh key的安装问题。
Step 4：编译工程
$ cd ${YOUR_WORKSPACE_PATH}
$ catkin_make
Step 5：安装工程
略，因为暂时不涉及软件的摆设应用，相关模拟命令参考：
[*]运行Rviz虚拟环境
$source devel/setup.bash && roslaunch exploration_manager rviz.launch
[*]运行模拟程序
$ source devel/setup.bash && roslaunch exploration_manager swarm_exploration.launch
3. 问题汇总
3.1 组件ros-noetic-multi-map-server问题
[ 86%] Building CXX object RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/src/multi_map_visualization.cc.o
/home/daniel/HKUST/RACER/src/RACER/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc:5:10: fatal error: multi_map_server/MultiOccupancyGrid.h: No such file or directory
5 | #include <multi_map_server/MultiOccupancyGrid.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make: *** Error 1
make: *** Error 2
make: *** Waiting for unfinished jobs....
**解决方案：**安装组件ros-noetic-multi-map-server
$ sudo apt-get install ros-noetic-multi-map-server
3.2 swarm_exploration/plan_env - OpenCV
$ git diff swarm_exploration/plan_env/CMakeLists.txt
diff --git a/swarm_exploration/plan_env/CMakeLists.txt b/swarm_exploration/plan_env/CMakeLists.txt
index bafe24e..cf26968 100644
--- a/swarm_exploration/plan_env/CMakeLists.txt
+++ b/swarm_exploration/plan_env/CMakeLists.txt
@@ -63,10 +63,11 @@ add_library( plan_env
target_link_libraries( plan_env
${catkin_LIBRARIES}
${PCL_LIBRARIES}
+ ${OpenCV_LIBS}
)
add_executable(obj_generator
src/obj_generator.cpp
)
target_link_libraries(obj_generator
- ${catkin_LIBRARIES})
\ No newline at end of file
+ ${catkin_LIBRARIES})
3.3 uav_simulator/local_sensing - CUDA优化
$ git diff uav_simulator/local_sensing/CMakeLists.txt
diff --git a/uav_simulator/local_sensing/CMakeLists.txt b/uav_simulator/local_sensing/CMakeLists.txt
index bd28736..608f0fc 100644
--- a/uav_simulator/local_sensing/CMakeLists.txt
+++ b/uav_simulator/local_sensing/CMakeLists.txt
@@ -3,8 +3,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-#set(ENABLE_CUDA true)
-set(ENABLE_CUDA false)
+set(ENABLE_CUDA true)
+#set(ENABLE_CUDA false)
if(ENABLE_CUDA)
find_package(CUDA REQUIRED)
@@ -17,7 +17,8 @@ if(ENABLE_CUDA)
# -gencode arch=compute_50,code=sm_50;
# -gencode arch=compute_52,code=sm_52;
# -gencode arch=compute_60,code=sm_60;
- -gencode arch=compute_61,code=sm_61;
+# -gencode arch=compute_61,code=sm_61;
+ -gencode arch=compute_87,code=sm_87;
)
SET(CUDA_PROPAGATE_HOST_FLAGS OFF)
3.4 第二次重复编译错误
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:6:10: fatal error: lkh_tsp_solver/SolveTSP.h: No such file or directory
6 | #include <lkh_tsp_solver/SolveTSP.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make: *** Error 1
make: *** Waiting for unfinished jobs....
In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/src/sdf_map.cpp:3:
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/include/plan_env/multi_map_manager.h:7:10: fatal error: plan_env/ChunkStamps.h: No such file or directory
7 | #include <plan_env/ChunkStamps.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/src/multi_map_manager.cpp:2:
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/include/plan_env/multi_map_manager.h:7:10: fatal error: plan_env/ChunkStamps.h: No such file or directory
7 | #include <plan_env/ChunkStamps.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make: *** Error 1
make: *** Waiting for unfinished jobs....
In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:6:
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:22:9: error: ‘SolveTSPResponse’ does not name a type; did you mean ‘SolveTSPRequest’?
22 | typedef SolveTSPResponse Response;
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:24:1: error: ‘Response’ does not name a type
24 | Response response;
| ^~~~~~~~
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:27:9: error: ‘Response’ does not name a type
27 | typedef Response ResponseType;
| ^~~~~~~~
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:34: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:34: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:50: error: template argument 1 is invalid
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:36: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:36: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:52: error: template argument 1 is invalid
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:11:84: error: ‘lkh_tsp_solver::SolveTSP::Response’ has not been declared
11 | bool tspCallback(lkh_tsp_solver::SolveTSP::Request& req, lkh_tsp_solver::SolveTSP::Response& res) {
解决方案：
[*]重新编译，貌似不可，仍然堕落
[*]清算git代码库中出现在swarm_exploration/utils/下的文件后，正常编译
$ git status
On branch main
Your branch is up to date with 'origin/main'.
Changes not staged for commit:
(use "git add <file>..." to update what will be committed)
(use "git restore <file>..." to discard changes in working directory)
modified: swarm_exploration/plan_env/CMakeLists.txt
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.tour
modified: uav_simulator/local_sensing/CMakeLists.txt
no changes added to commit (use "git add" and/or "git commit -a")
daniel@nvidia:~/SYSU-STAR/RACER/src/RACER$ git checkout swarm_exploration/utils
Updated 21 paths from the index
daniel@nvidia:~/SYSU-STAR/RACER/src/RACER$ git status
On branch main
Your branch is up to date with 'origin/main'.
Changes not staged for commit:
(use "git add <file>..." to update what will be committed)
(use "git restore <file>..." to discard changes in working directory)
modified: swarm_exploration/plan_env/CMakeLists.txt
modified: uav_simulator/local_sensing/CMakeLists.txt
no changes added to commit (use "git add" and/or "git commit -a")
4. 创建pcd环境
[*]运行Rviz虚拟环境
$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && roslaunch exploration_manager rviz.launch
[*]然后运行map_generator
$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && rosrun map_generator click_map
然后在 Rviz 中，使用 2D Nav Goal 工具（快捷键 G）来创建你的地图。两个一连点击的点形成一面墙。以下是一个示例：
https://img-blog.csdnimg.cn/img_convert/cde5854fe107bbf6d3b5e2e46117d6b0.gif#pic_center
[*]完成后，在另一个终端运行以下节点来保存地图：
$ source devel/setup.bash && rosrun map_generator map_recorder ~/
通常，一个名为 tmp.pcd 的文件会保存在 ~/. 你可以将 ~/ 替换为任何你想要的位置。最后，你可以按照这里提到的方法使用这个文件举行探索。
5. 总结
总的来说，仍然存在一些问题，模拟器无法使用： latest code on jetson orin got stucked, any idea? #23
无法看到下面动态的模拟图像：
https://img-blog.csdnimg.cn/img_convert/6b9a679493b2b9201f0bf0993affdbc3.gif#pic_center
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