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
- $ 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
- $ sudo apt-get install libarmadillo-dev ros_${ROS_VERSION_NAME}_nlopt libelf-dev libdw-dev
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
- $ mkdir -p ${YOUR_WORKSPACE_PATH}/src
- $ cd ${YOUR_WORKSPACE_PATH}/src
- $ git clone git@github.com:SYSU-STAR/RACER.git
Step 4：编译工程
- $ cd ${YOUR_WORKSPACE_PATH}
- $ catkin_make
略，因为暂时不涉及软件的摆设应用，相关模拟命令参考：
- $ source devel/setup.bash && roslaunch exploration_manager rviz.launch
- $ source devel/setup.bash && roslaunch exploration_manager swarm_exploration.launch
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[2]: *** [RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/build.make:63: RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/src/multi_map_visualization.cc.o] Error 1
- make[1]: *** [CMakeFiles/Makefile2:6342: RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/all] Error 2
- make[1]: *** Waiting for unfinished jobs....
- $ sudo apt-get install ros-noetic-multi-map-server
- $ 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})
- $ 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)
- /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[2]: *** [RACER/swarm_exploration/utils/lkh_tsp_solver/CMakeFiles/tsp_node.dir/build.make:1428: RACER/swarm_exploration/utils/lkh_tsp_solver/CMakeFiles/tsp_node.dir/src2/tsp_node.cpp.o] Error 1
- make[2]: *** 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[2]: *** [RACER/swarm_exploration/plan_env/CMakeFiles/plan_env.dir/build.make:128: RACER/swarm_exploration/plan_env/CMakeFiles/plan_env.dir/src/multi_map_manager.cpp.o] Error 1
- make[2]: *** 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) {
- 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")
- $ cd ${YOUR_WORKSPACE_PATH}
- $ source devel/setup.bash && roslaunch exploration_manager rviz.launch
- $ cd ${YOUR_WORKSPACE_PATH}
- $ source devel/setup.bash && rosrun map_generator click_map
- $ source devel/setup.bash && rosrun map_generator map_recorder ~/
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：
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