Husky MonoForce

Navigation with Husky robot with the ctu-vras/monoforce package used as robot-terrain interaction and path planning pipeline.

Trajectories prediction is based on the NVIDIA/warp and ctu-vras/diffsim packages.

Navigation consists of the following stages:

Image acquisition: RGB images are acquired from the Gazebo simulator.
Height map prediction: The Terrain Encoder part of the MonoForce is used to estimate terrain properties.
Trajectories prediction: The Diff Physics part of the MonoForce is used to shoot the robot trajectories.
Trajectory selection: The trajectory with the smallest cost based on robot-terrain interaction forces is selected.
Control: The robot is controlled to follow the selected trajectory.

Installation

Please, refer to INSTALL.md for installation instructions.

Usage

roslaunch husky_nav husky_monoforce.launch warp_dphys:=true

Citation

Consider citing the paper if you find the package relevant to your research:

@article{agishev2023monoforce,
    title={MonoForce: Self-supervised Learning of Physics-aware Model for Predicting Robot-terrain Interaction},
    author={Ruslan Agishev and Karel Zimmermann and Vladimír Kubelka and Martin Pecka and Tomáš Svoboda},
    year={2023},
    eprint={2309.09007},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Unreachable repositories

While running
wstool up -j 4

it get stuck in a never ending loop:
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active
[augmented_robot_trackers,cras_gps_odom,cras_imu_tools] still active

performing wstool update I get the following messages:

/catkin_ws/src$ wstool update
[augmented_robot_trackers] Fetching [email protected]:cras/subt/common/augmented_robot_trackers.git (version master) to /home/rob/catkin_ws/src/augmented_robot_trackers
Cloning into '/home/rob/catkin_ws/src/augmented_robot_trackers'...
[email protected]'s password:
Permission denied, please try again.
[email protected]'s password:

Theferore I went through dependencies.rosinstall, and I realize it is not possible to access the following git repositories:

- git:
    local-name: cras_gps_odom
    uri: [email protected]:cras/subt/common/cras_imu_tools.git
    version: master

- git:
    local-name: augmented_robot_trackers
    uri: [email protected]:cras/subt/common/augmented_robot_trackers.git
    version: master

- git:
    local-name: cras_imu_tools
    uri: [email protected]:cras/subt/common/cras_imu_tools.git
    version: master

Can you please put them publicly available in github?

ctu-vras / husky_nav Goto Github PK

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