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The project of multiple robot localization by fusing multiple sensors

License: MIT License

CMake 29.75% C++ 36.96% Python 30.60% Shell 0.61% C 2.07%

master_multirobot's Introduction

Hi 👋, I am Ruihua Han.

I am deeply passionate about developing the generally intelligent and theoretically guaranteed robotics systems capable of performing complex tasks comparable to human capabilities.
My current research focuses on the optimal control and motion planning for ground mobile robots navigating unknown, cluttered, and inhabited environments. I am particularly interested in integrating learning techniques with optimization theory and applying them to real robots to enhance the adaptability and efficiency of intelligent autonomous systems.

I am seeking postdoctoral opportunities in the field of robotics.

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bearswang lasso-sustech wangshanpao1991 ncnynl aloharobotics

master_multirobot's Issues

robot didn't move

Hi @hanruihua :)
I finally installed the dependencies and rearranged your package for working in my configuration.

But when I launch the roslaunch master_simulation rvo_turtlebot_gazebo2.launch --screen file, it occurred the following error:

[ERROR] [1598336669.268863685]: Failed to load nodelet [/agent1/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1598336669.269271756]: The error before refreshing the cache was: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1598336669.279432815]: Failed to load nodelet '/agent1/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager'
process[agent2/robot_state_publisher-14]: started with pid [4574]
[ INFO] [1598336669.311755614]: Loading nodelet /agent2/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1598336669.311891304]: Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
[ INFO] [1598336669.314443023]: /agent2/cmd_vel_mux/output -> /agent2/mobile_base/commands/velocity
process[agent2/trans2robot-15]: started with pid [4580]
[ INFO] [1598336669.330981876]: waitForService: Service [/agent2/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1598336669.345171939]: Initializing nodelet with 8 worker threads.
[ INFO] [1598336669.346254930]: Loading nodelet /agent2/bumper2pointcloud of type kobuki_bumper2pc/Bumper2PcNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1598336669.348257025]: /agent2/bumper2pointcloud/core_sensors -> /agent2/mobile_base/sensors/core
[ INFO] [1598336669.348304890]: /agent2/bumper2pointcloud/pointcloud -> /agent2/mobile_base/sensors/bumper_pointcloud
[ INFO] [1598336669.355909297]: waitForService: Service [/agent2/mobile_base_nodelet_manager/load_nodelet] is now available.
Configure completely
[ INFO] [1598336669.394447580]: Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
[ERROR] [1598336669.440041852]: Failed to load nodelet [/agent2/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1598336669.441213624]: The error before refreshing the cache was: According to the loaded plugin descriptions the class yocs_cmd_vel_mux/CmdVelMuxNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_bumper2pc/Bumper2PcNodelet kobuki_controller_tutorial/BumpBlinkControllerNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus obstacle_detector/ObstacleExtractor obstacle_detector/ObstaclePublisher obstacle_detector/ObstacleTracker obstacle_detector/ScansMerger pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1598336669.442119755]: Failed to load nodelet '/agent2/cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager
[agent1/cmd_vel_mux-6] process has died [pid 4522, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output:=mobile_base/commands/velocity __name:=cmd_vel_mux __log:=/home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-cmd_vel_mux-6.log].
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-cmd_vel_mux-6*.log
[agent2/cmd_vel_mux-12] process has died [pid 4561, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output:=mobile_base/commands/velocity __name:=cmd_vel_mux __log:=/home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-cmd_vel_mux-12.log].
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-cmd_vel_mux-12*.log
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
[ INFO] [1598336669.894537932]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1598336669.896274485]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.55.27
[ INFO] [1598336670.008366279]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[ INFO] [1598336670.017726354]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.55.27
[INFO] [1598336670.325306, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1598336670.340387, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1598336670.354906, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1598336670.372754, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1598336670.569335254]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1598336670.640348938, 24.423000000]: Physics dynamic reconfigure ready.
[INFO] [1598336670.667423, 24.758000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1598336670.680927, 24.883000]: Calling service /gazebo/spawn_urdf_model
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[ INFO] [1598336671.041201091, 25.063000000]: Camera Plugin: Using the 'robotNamespace' param: '/agent2/'
[ INFO] [1598336671.043855179, 25.063000000]: Camera Plugin (ns = /agent2/)  <tf_prefix_>, set to "/agent2"
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1598336671.110298, 25.063000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1598336671.111610, 25.063000]: Unpausing physics
[ INFO] [1598336671.128199120, 25.063000000]: Starting plugin Kobuki(ns = /agent2//)
[ WARN] [1598336671.128310478, 25.063000000]: Kobuki(ns = /agent2//): missing <rosDebugLevel> default is na
[ INFO] [1598336671.128802046, 25.063000000]: Kobuki(ns = /agent2//): <tf_prefix> = /agent2
[ WARN] [1598336671.129575003, 25.063000000]: Kobuki(ns = /agent2//): missing <update_rate> default is 0
[Dbg] [gazebo_ros_kobuki.cpp:64] Plugin model name: agent2
[ INFO] [1598336671.129838474, 25.063000000]: Will publish tf. [agent2]
[ INFO] [1598336671.134182985, 25.063000000]: Kobuki(ns = /agent2//): Advertise joint_states[joint_states]!
[ INFO] [1598336671.136428678, 25.063000000]: Kobuki(ns = /agent2//): Advertise Odometry[odom]!
[ INFO] [1598336671.140954301, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1598336671.144471883, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1598336671.147930736, 25.063000000]: Kobuki(ns = /agent2//): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1598336671.149945208, 25.063000000]: Kobuki(ns = /agent2//): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1598336671.151609605, 25.063000000]: Kobuki(ns = /agent2//): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1598336671.153547128, 25.063000000]: Kobuki(ns = /agent2//): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1598336671.153681771, 25.063000000]: GazeboRosKobuki plugin ready to go! [agent2]
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[ INFO] [1598336671.561872653, 27.268000000]: Camera Plugin: Using the 'robotNamespace' param: '/agent1/'
[ INFO] [1598336671.579567753, 27.268000000]: Camera Plugin (ns = /agent1/)  <tf_prefix_>, set to "/agent1"
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[INFO] [1598336671.617412, 27.268000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1598336671.624905, 27.268000]: Unpausing physics
[ INFO] [1598336671.719040070, 27.268000000]: Starting plugin Kobuki(ns = /agent1//)
[ WARN] [1598336671.719123283, 27.268000000]: Kobuki(ns = /agent1//): missing <rosDebugLevel> default is na
[ INFO] [1598336671.719893377, 27.268000000]: Kobuki(ns = /agent1//): <tf_prefix> = /agent1
[ WARN] [1598336671.719996586, 27.268000000]: Kobuki(ns = /agent1//): missing <update_rate> default is 0
[Dbg] [gazebo_ros_kobuki.cpp:64] Plugin model name: agent1
[ INFO] [1598336671.720119393, 27.268000000]: Will publish tf. [agent1]
[ INFO] [1598336671.722367408, 27.268000000]: Kobuki(ns = /agent1//): Advertise joint_states[joint_states]!
[ INFO] [1598336671.722975189, 27.268000000]: Kobuki(ns = /agent1//): Advertise Odometry[odom]!
[ INFO] [1598336671.726462332, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1598336671.728834147, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1598336671.733376427, 27.268000000]: Kobuki(ns = /agent1//): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1598336671.736375614, 27.268000000]: Kobuki(ns = /agent1//): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1598336671.739653708, 27.268000000]: Kobuki(ns = /agent1//): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1598336671.741120597, 27.268000000]: Kobuki(ns = /agent1//): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1598336671.741186058, 27.268000000]: GazeboRosKobuki plugin ready to go! [agent1]
[agent2/spawn_turtlebot_model-10] process has finished cleanly
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent2-spawn_turtlebot_model-10*.log
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Wrn] [msgs.cc:1852] Conversion of sensor type[depth] not supported.
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[agent1/spawn_turtlebot_model-4] process has finished cleanly
log file: /home/syscon/.ros/log/a077d850-e69b-11ea-ab77-0c7a15d8a15d/agent1-spawn_turtlebot_model-4*.log

In this reason, I suspected robot doesn't receive cmd_vel.

[Bug] roslaunch master_simulation rvo_turtlebot_gazebo.launch

Hi, this is a very great project. Thank you for sharing.

By the way, I come across a problem when I start the gazebo simulation. When I start "roslaunch master_simulation rvo_turtlebot_gazebo.launch" and the result:

unused args [ROBOT_INITIAL_POSE, model] for include of [/opt/ros/kinetic/share/turtlebot_gazebo/launch/includes/kobuki.launch.xml]

Can you tell me how to solve this problem. Thanks a lot.

Error during CATKIN_MAKE compilation.

Hello and HI!

I have downloaded your code for this project and tried to compile them.
When I compile only this subdirectory (master_multirobot), it compiles perfectly fine.
But when I tried to compile them with "https://github.com/hanruihua/rvo_ros.git" or ORCA Path planning, somehow cmake show errors as below:

CMake Error at rvo_ros/simulation/plugins/CMakeLists.txt:6 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "multi_obs"
which is not built in this directory.

Did missing something from your steps?

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