The main goal of this project is finding an efficient solution to create a 2D map of an unknown environment.

Two drones compute their targets and required trajectories autonomously and merge the depth information of their respective cameras into a global 3D occupancy grid and 2D map.

IMPORTANT NOTICE: The unity simulation and some files, as denoted by the documentation, were kindly provided by Prof. Dr. Markus Ryll.

• Daniel Brunner
• Ezgi Köse
• Aniruddha Mallick
• Felix Waiblinger
• Emil Zahlbaum

Note: This project has been setup and tested under Ubuntu 20.04 LTS, ROS noetic and Python3 being installed on our system.

1. Download / clone this repository

   git clone https://gitlab.lrz.de/ge73kib/intro2ros-autonomous-drones.git
   

2. Install required ROS packages

   sudo apt-get install ros-noetic-octomap ros-noetic-octomap-mapping ros-noetic-move-base
   

3. Build the project workspace

   cd intro2ros-autonomous-drones/code
   catkin build
   source devel/setup.bash
   

4. Download pre-built simulation files from https://syncandshare.lrz.de/getlink/fiEg9ocZ6Pc5iuEa4QqN1b/ (link provided by Markus Ryll)

5. Move the files into devel/lib/simulation and make the simulation executable

   chmod +x devel/lib/simulation/Two_Drones.x86_64
   

6. Run the simulation

   roslaunch simulation simulation.launch
   

For more information on the required packages, feel free to visit depth_image_proc, octomap, octomap_mapping, move_base and explore_lite.

Detailed documentation can be found here.

If you encounter any problems during installation, building or launching the project, please make sure...

• to have the correct packages installed
• catkin tools might require additional packages like python3-catkin-tools
• the workspace is correctly extended (catkin config --extend /opt/ros/noetic)
• ros dependencies are updated (rosdep init && rosdep update)
• to have sourced the correct setup file (source intro2ros-autonomous-drones/code/devel/setup.bash)
• to consider to restart the simulation if one or both drones get stuck before the map is fully explored
• to have the goddess of fortune on your side, guiding the cmake build system on its twisted path...