MORAI - Robotics example

First step to enjoy the MORAI Sim: Robotics

This example supports Ubuntu 18.04 or later

./
├── AD                        # [Autonomous Drive] Trajectory following example project
│    ├── autonomous_driving     # Algorithm scripts
│    ├── ros                    # ROS1 interface scripts
│    └── udp                    # UDP interface scripts
├── EgoCtrl                   # Simulator control scripts to launch the SLAM examples
├── SLAM                      # SLAM example projects (can use Docker only)
│    ├── LeGO-LOAM              # LeGO-LOAM -> 3D SLAM example with ROS1 interface
│    └── ogm_cartographer       # Cartographer -> 2D SLAM example with ROS1 interface
├── docker                    # Other scripts to manage the docker image
├── msgs                      # ROS1 message files to play examples
├── config.yaml               # Configure file to launch the SLAM example
└── runner.sh                 # SLAM example launcher script

• AD(Autonomous Drive)

  • Trajectory follower
  • ROS / UDP communication

• SLAM

  • LeGO-LOAM - 3D SLAM algorithm using a multi channel LiDAR sensor
  • OGM-Cartographer(Google Cartographer for MORAI Robotics) - 2D SLAM algorithm using a single channel LiDAR sensor

Requirement

• ROS1 desktop-full >= melodic

• python >= 3.7

• niet

• tmux

Installation

Native Linux Environment

(only supports the Autonomous Drive example)

Basically need packages

$ sudo pip install niet
$ sudo apt install tmux

ROS interface

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src && catkin_init_workspace
$ git clone https://github.com/MORAI-Autonomous/MORAI-RoboticsExample.git
$ touch MORAI-RoboticsExample/SLAM/LeGO-LOAM/CATKIN_IGNORE
$ touch MORAI-RoboticsExample/SLAM/ogm_cartographer/CATKIN_IGNORE
$ cd ~/catkin_ws
$ rosdep install --from-paths . --ignore-src -r -y
$ find -name 'requirements.txt' | xargs -L 1 sudo pip install -U -r
$ catkin_make
$ source devel/setup.bash

UDP interface

$ git clone https://github.com/MORAI-Autonomous/MORAI-RoboticsExample.git
$ cd MORAI-RoboticsExample
$ find -name 'requirements.txt' | xargs -L 1 sudo pip install -U -r

Docker

(supports all examples. Reference)

$ git clone -b docker --single-branch https://github.com/MORAI-Autonomous/MORAI-RoboticsExample.git
$ cd MORAI-RoboticsExample
$ sudo bash ./docker-install.sh

Usage

Native Linux Environment

AD with ROS

Follow this step if you want to change the trajectory.

$ roslaunch morai_standard path_maker.launch

Enjoy the example which follow the trajectory with smart cruise control.

$ roslaunch morai_standard morai_standard.launch

AD with UDP

$ cd AD/udp

Follow this step if you want to change the trajectory.

$ python3 ./path_maker.py

Enjoy the example which follow the trajectory with smart cruise control.

$ python3 ./main.py

Docker

Just follow the Easy to use - Run guide.

License

• MORAI AD License info: AD License
• ogm_cartographer License info: Cartographer License
• LeGO-LOAM License info: LeGO-LOAM License

Cite SC-LeGO-LOAM

In repository, the LeGO-LOAM code is modified from SC-LeGO-LOAM which is an extended version of LeGO-LOAM integrated with Scan Context++.

  author = {Kim, Giseop and Kim, Ayoung},
  title = { Scan Context: Egocentric Spatial Descriptor for Place Recognition within {3D} Point Cloud Map },
  booktitle = { Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems },
  year = { 2018 },
  month = { Oct. },
  address = { Madrid }
}

  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Shan, Tixiao and Englot, Brendan},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}