MARSIM仿真平台部署安装及FUEL部署-Ubuntu20.04

注意

看了作者链接发现不能复制,原因可能是缺少公钥，需要添加

参考

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https://blog.csdn.net/Liumy93/article/details/130158527?fromshare=blogdetail&sharetype=blogdetail&sharerId=130158527&sharerefer=PC&sharesource=m0_56093217&sharefrom=from_link

安装步骤流程

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sudo apt-get install libglfw3-dev libglew-dev

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mkdir -p marsim_ws/src
cd marsim_ws/src
git clone -b ubuntu20 https://github.com/hku-mars/MARSIM.git
cd ..
catkin_make

成功后截图

运行效果

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source devel/setup.bash
roslaunch test_interface single_drone_avia.launch

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source devel/setup.bash
roslaunch test_interface single_drone_mid360_dynobs.launch

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source devel/setup.bash
roslaunch exploration_manager exploration.launch

这里发现Fuel需要安装现在需要安装

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git clone -b v2.7.1 https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

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sudo apt-get install libarmadillo-dev

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cd ${YOUR_WORKSPACE_PATH}/src
git clone git@github.com:HKUST-Aerial-Robotics/FUEL.git
cd ../ 
catkin_make

换成

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git clone https://github.com/HKUST-Aerial-Robotics/FUEL.git

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source devel/setup.bash && roslaunch exploration_manager rviz.launch

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source devel/setup.bash && roslaunch exploration_manager exploration.launch

发现MARSIM和FUEL放在一个工作空间了冲突，无法运行

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mkdir -p ~/fuel_ws/src
cd ~/fuel_ws/src
# 放 FUEL
mv ~/marsim_ws/src/FUEL .
cd ..
catkin_make

现在运行了发现是这样的
再试一下：

在FUEL里面改动：

发现如果要改动：

map_generator/resource文件夹添加点云图片

simulator.xml里面修改

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  <!-- Change office.pcd to specify the exploration environment -->
  <!-- We provide office.pcd, office2.pcd, office3.pcd and pillar.pcd in this repo -->
  <node pkg ="map_generator" name ="map_pub" type ="map_pub" output = "screen" args="$(find map_generator)/resource/office.pcd"/>

exploration.launch里面增加：

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    <arg name="box_min_x" value="-10.0"/>
    <arg name="box_min_y" value="-15.0"/>
    <arg name="box_min_z" value=" 0.0"/>
    <arg name="box_max_x" value="10.0"/>
    <arg name="box_max_y" value="15.0"/>
    <arg name="box_max_z" value=" 2.0"/>

怎么创建一个点云环境教程

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  rosrun map_generator click_map

保存

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  rosrun map_generator map_recorder ~/

发现是自己问题，不是断开运行的

开终端运行

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source devel/setup.bash && roslaunch exploration_manager rviz.launch

再开终端运行

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source devel/setup.bash && roslaunch exploration_manager exploration.launch