From fd9246f53d59e26c6176ac39cd416a73a810229b Mon Sep 17 00:00:00 2001 From: XinfangZhang Date: Sat, 29 Jul 2023 16:01:07 +0800 Subject: [PATCH] Verified that it can be compiled and run --- Blimp-Autopilot-Ascend/.catkin_workspace | 1 + Blimp-Autopilot-Ascend/README.md | 46 +++ Blimp-Autopilot-Ascend/shfiles/vins_run.sh | 2 +- .../include/pcl_conversions/pcl_conversions.h | 16 +- .../SACSegmentation_common.cpython-38.pyc | Bin 1541 -> 1562 bytes .../cfg/__pycache__/common.cpython-38.pyc | Bin 1329 -> 1350 bytes .../include/global_planner/global_map.h | 4 +- .../include/global_planner/global_planner.h | 4 +- .../plan_env/include/plan_env/grid_map.h | 4 +- .../VINS-Fusion/loop_fusion/CMakeLists.txt | 2 +- .../cv_bridge/CMakeLists.txt | 13 +- .../odom_visualization/launch/default.rviz | 369 ++++++++++++++++++ .../odom_visualization/launch/vins_vis.launch | 5 +- 13 files changed, 443 insertions(+), 23 deletions(-) create mode 100644 Blimp-Autopilot-Ascend/.catkin_workspace create mode 100644 Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/default.rviz diff --git a/Blimp-Autopilot-Ascend/.catkin_workspace b/Blimp-Autopilot-Ascend/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Blimp-Autopilot-Ascend/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Blimp-Autopilot-Ascend/README.md b/Blimp-Autopilot-Ascend/README.md index e249749..6d4e994 100644 --- a/Blimp-Autopilot-Ascend/README.md +++ b/Blimp-Autopilot-Ascend/README.md @@ -18,6 +18,52 @@ 将/src/vins-fusion/utils/odom_visualization目录拷贝至本地进行编译，然后在配置好多机ROS相关IP的情况下，在本地启动`roslaunch odom_visualization vins_vis.launch` +## 依赖 + +### Mavlink + +此工程中包括mavros，但对其中一个文件vision_pose_estimate.cpp做了修改，编译此工程即可提供mavros相关功能。 + +直接源码编译安装mavros可能会出现与mavlink相关的依赖问题，可以先直接二进制安装mavros，让其自动解决相关依赖问题，再编译此工程，在编译完成后source此工程devel目录下的setup.bash，通过环境变量的改变，使得运行roslaunch mavros时启动的是此工程中的mavros而非二进制安装的原版。 + +二进制安装mavros参见：https://blog.csdn.net/weixin_42301220/article/details/117845212 + +### Ceres + +参见： + +https://zhuanlan.zhihu.com/p/460685629 + +### Boost_python3 + +参见： + +https://blog.csdn.net/zsf10220208/article/details/102571611#:~:text=%281%29%20%E5%8E%BBboost%E5%AE%98%E7%BD%91%20https%3A%2F%2Fwww.boost.org%2F%20%E4%B8%8B%E8%BD%BD%E8%BE%83%E6%96%B0%E7%89%88%E6%9C%AC%E7%9A%84boost%2C%E5%A6%82boost_1_71_0.zip.%20%282%29%20%E8%A7%A3%E5%8E%8B%3A%20unzip%20boost_1_71_0.zip,sudo.%2Fb2%20install%20%28d%29%20sudo%20ldconfig%20%284%29%20%E7%BC%96%E8%AF%91%E6%88%90%E5%8A%9F%E5%90%8E%E5%8F%AF%E4%BB%A5%E5%9C%A8%E9%BB%98%E8%AE%A4%E7%BC%96%E8%AF%91%E8%B7%AF%E5%BE%84%2Fusr%2Flocal%2Flib%E4%B8%8B%E6%89%BE%E5%88%B0%E7%9B%B8%E5%85%B3%E7%9A%84libboost%2A.so%2C%20boost%E5%9C%A8%2Fusr%2Flocal%2Finclude%2Fboost. + +https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/ + +### OpenCV 3.4 + +https://github.com/opencv/opencv/tree/3.4 + +下载源码，解压之后进入目录，新建build目录，在build目录下执行 +``` +cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local/opencv34 -DWITH_LIBV4L=ON -DWITH_CUDA=OFF -DWITH_TBB=ON -DWITH_OPENMP=ON -DWITH_OPENGL=ON +make -j8 +sudo make install +``` + +### RealsenseSDK + +https://github.com/IntelRealSense/librealsense/releases + +下载源码，解压之后进入目录，新建build目录，在build目录下执行 +``` +cmake .. -DCMAKE_BUILD_TYPE=Release +make -j8 +sudo make install +``` + ## 编译 在blimp-autopilot下执行`catkin_make -DCMAKE_BUILD_TYPE=Release`即可执行编译 diff --git a/Blimp-Autopilot-Ascend/shfiles/vins_run.sh b/Blimp-Autopilot-Ascend/shfiles/vins_run.sh index c78d73e..3b2d59a 100755 --- a/Blimp-Autopilot-Ascend/shfiles/vins_run.sh +++ b/Blimp-Autopilot-Ascend/shfiles/vins_run.sh @@ -2,7 +2,7 @@ source ../devel/setup.bash -roslaunch realsense2_camera rs_camera.launch & sleep 6; +# roslaunch realsense2_camera rs_camera.launch & sleep 6; rosrun vins vins_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 5; rosrun loop_fusion loop_fusion_node ../src/vins-fusion/realflight_modules/VINS-Fusion/config/px4/stereo_imu_config_d435f.yaml & sleep 1; diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/pcl_conversions/include/pcl_conversions/pcl_conversions.h b/Blimp-Autopilot-Ascend/src/ego-planner/pcl_conversions/include/pcl_conversions/pcl_conversions.h index 85a53eb..07ef08b 100644 --- a/Blimp-Autopilot-Ascend/src/ego-planner/pcl_conversions/include/pcl_conversions/pcl_conversions.h +++ b/Blimp-Autopilot-Ascend/src/ego-planner/pcl_conversions/include/pcl_conversions/pcl_conversions.h @@ -56,20 +56,20 @@ #include #include -//#include -#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h" +#include +// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PointIndices.h" #include -//#include -#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h" +#include +// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/ModelCoefficients.h" #include -//#include -#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h" +#include +// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/Vertices.h" #include -//#include -#include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h" +#include +// #include "/root/catkin_ws/ego-planner/devel/include/pcl_msgs/PolygonMesh.h" #include diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/pcl_ros/cfg/__pycache__/SACSegmentation_common.cpython-38.pyc b/Blimp-Autopilot-Ascend/src/ego-planner/pcl_ros/cfg/__pycache__/SACSegmentation_common.cpython-38.pyc index f8d86b663e23b5b1fcd2e372eedb62d314699138..9a79092362a10eb45057e374c4352651c04cd838 100644 GIT binary patch delta 72 zcmZqWnZ?5$%FD~e00gCVM>cY^vg)VkXXNLm>Q_~y=_e)TQ_~y=_lo6<`(ECmX_ofWai|TOtxpe F4FFEN51Ie~ diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/pcl_ros/cfg/__pycache__/common.cpython-38.pyc b/Blimp-Autopilot-Ascend/src/ego-planner/pcl_ros/cfg/__pycache__/common.cpython-38.pyc index 36633dc38cbbe9b1350e5a5bb6684959361df0a5..6db99a67691be5cd27cf915632c8c6f8d06463a8 100644 GIT binary patch delta 72 zcmdnUb&QKUl$V!_0SHR#j%?(1XVDMQ&&bbB)vu~Z(@#pw$;r>p(=EzR$}iD(%E`=$uG#v$uH4$EKW|%OPQR*aufg~Xc%n( delta 51 zcmX@cwULWEl$V!_0SILB4{hXjXOXhk&&bbB)vu~Z(@)CD%q`GOEG@||$jr$vncT>7 F6aZ#d5J~_5 diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_map.h b/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_map.h index 801eb8c..1e72a88 100644 --- a/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_map.h +++ b/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_map.h @@ -16,8 +16,8 @@ #include #include -//#include -#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" +#include +// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" #include #include diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_planner.h b/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_planner.h index c2e1eb6..9517823 100644 --- a/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_planner.h +++ b/Blimp-Autopilot-Ascend/src/ego-planner/planner/global_planner/include/global_planner/global_planner.h @@ -6,8 +6,8 @@ #include #include #include -//#include -#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" +#include +// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" #include #include #include diff --git a/Blimp-Autopilot-Ascend/src/ego-planner/planner/plan_env/include/plan_env/grid_map.h b/Blimp-Autopilot-Ascend/src/ego-planner/planner/plan_env/include/plan_env/grid_map.h index a2b3d9f..395a385 100644 --- a/Blimp-Autopilot-Ascend/src/ego-planner/planner/plan_env/include/plan_env/grid_map.h +++ b/Blimp-Autopilot-Ascend/src/ego-planner/planner/plan_env/include/plan_env/grid_map.h @@ -15,8 +15,8 @@ #include #include -//#include -#include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" +#include +// #include "/root/catkin_ws/ego-planner/src/pcl_conversions/include/pcl_conversions/pcl_conversions.h" #include #include diff --git a/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt b/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt index e28c9fe..ffd8c2b 100644 --- a/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt +++ b/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/VINS-Fusion/loop_fusion/CMakeLists.txt @@ -26,7 +26,7 @@ find_package(Ceres REQUIRED) set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) find_package(Eigen3) -include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} /root/blimp-autopilot-master/src/realflight_modules/VINS-Fusion-gpu/vins_estimator/src/estimator) +include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}) catkin_package() diff --git a/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/vision_opencv-melodic/cv_bridge/CMakeLists.txt b/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/vision_opencv-melodic/cv_bridge/CMakeLists.txt index 2374241..3b28dea 100644 --- a/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/vision_opencv-melodic/cv_bridge/CMakeLists.txt +++ b/Blimp-Autopilot-Ascend/src/vins-fusion/realflight_modules/vision_opencv-melodic/cv_bridge/CMakeLists.txt @@ -3,13 +3,16 @@ project(cv_bridge) find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs) + + if(NOT ANDROID) find_package(PythonLibs) - if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3) - find_package(Boost REQUIRED python) - else() - find_package(Boost REQUIRED python3) - endif() + find_package(Boost REQUIRED python) + # if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3) + # find_package(Boost REQUIRED python) + # else() + # find_package(Boost REQUIRED python3) + # endif() else() find_package(Boost REQUIRED) endif() diff --git a/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/default.rviz b/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/default.rviz new file mode 100644 index 0000000..335592b --- /dev/null +++ b/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/default.rviz @@ -0,0 +1,369 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /map inflate1 + - /Planning1/drone_path1 + - /Odometry1/Shape1 + - /drone1 + Splitter Ratio: 0.43611112236976624 + Tree Height: 1606 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: map inflate +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.05000000074505806 + Reference Frame: + Show Trail: false + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 1000 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.875 + Min Value: 0.11500000208616257 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 29; 108; 212 + Color Transformer: AxisColor + Decay Time: 3 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: map inflate + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.23000000417232513 + Style: Boxes + Topic: /drone_0_ego_planner_node/grid_map/occupancy_inflate + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Marker + Enabled: true + Marker Topic: /drone_0_ego_planner_node/goal_point + Name: goal_point + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /drone_0_ego_planner_node/global_list + Name: global_path + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /drone_0_ego_planner_node/optimal_list + Name: optimal_traj + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /drone_0_ego_planner_node/failed_list + Name: FailedList + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /ego_planner_node/a_star_list + Name: AStar + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /drone_0_ego_planner_node/init_list + Name: InitTraj + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 29; 108; 212 + Enabled: false + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.019999999552965164 + Name: drone_path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /vins_estimator/path + Unreliable: false + Value: false + Enabled: true + Name: Planning + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 0.5 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /vins_estimator/odometry + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /odom_visualization/robot + Name: drone + Namespaces: + mesh: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /drone_0_traj_server/yaw_direction + Name: des_yaw + Namespaces: + "": true + Queue Size: 1 + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /visualization/applied_trajectory + Name: land_traj + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: false + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /mavros/setpoint_raw/local + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + - Class: rviz_plugins/Goal3DTool + Topic: goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.624379634857178 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 1.7512515783309937 + Y: 1.7239826917648315 + Z: 1.7014034986495972 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5147976875305176 + Target Frame: my_view + Yaw: 2.367333173751831 + Saved: + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: FPS + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4000000059604645 + Position: + X: -11 + Y: 0 + Z: 8 + Roll: 0 + Target Frame: my_view + Yaw: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: FPS + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5 + Position: + X: -10 + Y: 0 + Z: 10 + Roll: 0 + Target Frame: my_view + Yaw: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: FPS + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6000000238418579 + Position: + X: -10 + Y: 0 + Z: 10 + Roll: 0 + Target Frame: my_view + Yaw: 0 +Window Geometry: + Displays: + collapsed: false + Height: 1872 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2856 + X: 144 + Y: 54 diff --git a/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/vins_vis.launch b/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/vins_vis.launch index a7486d1..0408069 100644 --- a/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/vins_vis.launch +++ b/Blimp-Autopilot-Ascend/src/vins-fusion/utils/odom_visualization/launch/vins_vis.launch @@ -1,7 +1,6 @@ - - + @@ -11,4 +10,6 @@ + +