Merge pull request #3 from midemig/rolling

Rolling paper version

Author: fmrico

.github/workflows/rolling.yaml

@@ -24,6 +24,8 @@ jobs:
           required-ros-distributions: rolling
       - name: install pcl
         run: sudo apt install libpcl-dev libpcl-*
+      - name: install g2o
+        run: sudo apt install libg2o-dev
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.3.13
         with:

.gitignore

@@ -0,0 +1,2 @@
+*.pyc
+.vscode

README.md

@@ -1,5 +1,81 @@
-# global_navigation
+[![rolling](https://github.com/midemig/global_navigation/actions/workflows/rolling.yaml/badge.svg)](https://github.com/midemig/global_navigation/actions/workflows/rolling.yaml)
 
-[![rolling](https://github.com/IntelligentRoboticsLabs/global_navigation/actions/workflows/rolling.yaml/badge.svg)](https://github.com/IntelligentRoboticsLabs/global_navigation/actions/workflows/rolling.yaml)
+# Global Navigation
 
-This package contains a new approach to navigate at outdoors
+This repository introduces an innovative approach for outdoor navigation using ROS2.
+
+## Packages
+
+This repository comprises two packages:
+
+- **local_navigation**: Reconstructs the navigated area into a grid map incorporating elevation and RGB data.
+- **traversability_updater**: Computes a navigability score based on previously traversed areas.
+
+The animation below highlights highly navigable areas in yellow and green. As the robot traverses the grass, all mapped zones with similar characteristics are marked as highly navigable.
+
+![Navigation Demo](media/navigation_demo.gif)
+
+## Usage
+
+To reproduce our results, follow these instructions:
+
+### Installation
+
+- Requirements
+  - Ubuntu 24.04
+  - Ros2 Rolling
+  - Python 3.12.3
+
+
+- Create a workspace and clone the repository
+
+    ```sh
+    mkdir -p global_navigation_ws/src
+    cd global_navigation_ws/src
+    git clone https://github.com/midemig/global_navigation -b rolling
+    ```
+
+- Install dependences and build workspace
+
+    ```sh
+    sudo apt install libg2o-dev
+    rosdep update
+    vcs import --recursive . < global_navigation/dependencies.repos
+    cd ..
+    rosdep install --from-paths src --ignore-src -r -y
+    colcon build --symlink-install 
+    ```
+
+- Install python dependences
+
+    ```sh
+    sudo apt install python3.12-venv
+    python3 -m venv global_nav_env
+    source global_nav_env/bin/activate
+    pip3 install -r src/global_navigation/requirements.txt
+    ```
+
+### Launch Demo
+
+1. Download and unzip the [demo bagfile](https://urjc-my.sharepoint.com/:u:/g/personal/juancarlos_serrano_urjc_es/EQI9T9RNYuFJg6reV-pq-7IBjMEeEo7RxaJCudMs9IyRTg?e=hSNyQB).
+2. In a terminal, play the downloaded bag:
+
+    ```sh
+    ros2 bag play cesped_00/ --clock -p
+    ```
+
+3. In another terminal, execute:
+
+    ```sh
+    source global_nav_env/bin/activate
+    export PYTHONPATH=$VIRTUAL_ENV/lib/python3.12/site-packages:$PYTHONPATH
+    ros2 launch local_navigation demo.launch.py
+    ```
+
+## Authors
+
+- [Francisco Martín Rico](github.com/fmrico)
+- [Miguel Ángel de Miguel](github.com/midemig)
+- [Juan Sebastián Cely](github.com/juanscelyg)
+- [Juan Carlos Manzanares](github.com/Juancams)
+- [Alberto García](github.com/aaggj)

dependencies.repos

@@ -1,9 +1,13 @@
 repositories:
-  ThirdParty/grid_map:
+  ThirdParty/lidarslam_ros2:
     type: git
-    url: https://github.com/ANYbotics/grid_map.git
-    version: rolling
+    url: https://github.com/fmrico/lidarslam_ros2
+    version: summit-xl
   ThirdParty/navigation2:
     type: git
-    url: https://github.com/ros-navigation/navigation2.git
+    url: https://github.com/ros-navigation/navigation2
     version: main
+  ThirdParty/grid_map:
+    type: git
+    url: https://github.com/ANYbotics/grid_map.git
+    version: rolling

local_navigation/config/lidarslam_summit.yaml

@@ -0,0 +1,49 @@
+scan_matcher:
+  ros__parameters:
+    use_sim_time: false
+    global_frame_id: "map"
+    robot_frame_id: "base_link"
+    registration_method: "NDT"
+    ndt_resolution: 2.0
+    ndt_num_threads: 2
+    gicp_corr_dist_threshold: 5.0
+    trans_for_mapupdate: 1.5
+    vg_size_for_input: 0.5
+    vg_size_for_map: 0.1
+    use_min_max_filter: true
+    scan_min_range: 1.0
+    scan_max_range: 200.0
+    scan_period: 0.1
+    map_publish_period: 15.0
+    num_targeted_cloud: 20
+    set_initial_pose: true
+    initial_pose_x: 0.0
+    initial_pose_y: 0.0
+    initial_pose_z: 0.0
+    initial_pose_qx: 0.0
+    initial_pose_qy: 0.0
+    initial_pose_qz: 0.0
+    initial_pose_qw: 1.0
+    use_imu: false
+    use_odom: false
+    debug_flag: false
+
+graph_based_slam:
+    ros__parameters:
+      use_sim_time: false
+      registration_method: "NDT"
+      ndt_resolution: 1.0
+      ndt_num_threads: 2
+      voxel_leaf_size: 0.1
+      loop_detection_period: 3000
+      threshold_loop_closure_score: 2.5
+      distance_loop_closure: 100.0
+      range_of_searching_loop_closure: 20.0
+      search_submap_num: 2
+      num_adjacent_pose_cnstraints: 5
+      use_save_map_in_loop: true
+      debug_flag: true
+
+rviz:
+    ros__parameters:
+      use_sim_time: false