论文学习--Learning High-Speed Flight in the Wild

最新推荐文章于 2024-08-05 11:45:04 发布

SLAM On the Road

最新推荐文章于 2024-08-05 11:45:04 发布

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本文链接：https://blog.youkuaiyun.com/wxm__/article/details/121220816

版权

Git

Git： https://github.com/uzh-rpg/agile_autonomy
论文： Learning High-Speed Flight in the Wild

子文链接

后续写了额外三篇博客，可供参考：
仿真环境中生成专家轨迹
 仿真器采集无人机仿真数据
 网络训练生成飞行轨迹

代码运行

编译环境

Ubuntu18.04 + gcc6 + cuda11.3 + ROS melodic + anaconda3(conda 4.10.1) + python3.8 + open3d v0.10.0

编译步骤

参考git源码的Readme.md

【可选】

可以选择修改下载依赖包的方式为https. 即修改 src/agile_autonomy/dependencies.yaml 的内容如下：

repositories:
  catkin_boost_python_buildtool:
    type: git
    url: https://github.com/ethz-asl/catkin_boost_python_buildtool.git
    version: master
  catkin_simple:
    type: git
    url: https://github.com/catkin/catkin_simple.git
    version: master
  eigen_catkin:
    type: git
    url: https://github.com/ethz-asl/eigen_catkin.git
    version: master
  eigen_checks:
    type: git
    url: https://github.com/ethz-asl/eigen_checks.git
    version: master
  gflags_catkin:
    type: git
    url: https://github.com/ethz-asl/gflags_catkin.git
    version: master
  glog_catkin:
    type: git
    url: https://github.com/ethz-asl/glog_catkin.git
    version: master
  mav_comm:
    type: git
    url: https://github.com/ethz-asl/mav_comm.git
    version: master
  minimum_jerk_trajectories:
    type: git
    url: https://github.com/uzh-rpg/minimum_jerk_trajectories.git
    version: master
  minkindr:
    type: git
    url: https://github.com/ethz-asl/minkindr.git
    version: master
  minkindr_ros:
    type: git
    url: https://github.com/ethz-asl/minkindr_ros.git
    version: master
  numpy_eigen:
    type: git
    url: https://github.com/ethz-asl/numpy_eigen.git
    version: master
  rpg_common:
    type: git
    url: https://github.com/kelia/rpg_common.git
    version: main
  rotors_simulator:
    type: git
    url: https://github.com/ethz-asl/rotors_simulator.git
    version: master
  rpg_mpc:
    type: git
    url: https://github.com/uzh-rpg/rpg_mpc.git
    version: feature/return_full_horizon
  rpg_quadrotor_common:
    type: git
    url: https://github.com/uzh-rpg/rpg_quadrotor_common.git
    version: master
  rpg_quadrotor_control:
    type: git
    url: https://github.com/uzh-rpg/rpg_quadrotor_control.git
    version: devel/elia
  rpg_single_board_io:
    type: git
    url: https://github.com/uzh-rpg/rpg_single_board_io.git
    version: master
  rpg_flightmare:
    type: git
    url: https://github.com/antonilo/flightmare_agile_autonomy.git
    version: main
  rpg_mpl_ros:
    type: git
    url: https://github.com/uzh-rpg/rpg_mpl_ros.git
    version: master
  assimp_catkin:
    type: git
    url: https://github.com/uzh-rpg/assimp_catkin.git
    version: master

[1] 下载源码

mkdir agile_autonomy_ws
cd agile_autonomy_ws
mkdir -p agile_autonomy_ws/src
cd agile_autonomy_ws
catkin init
catkin config --extend /opt/ros/melodic
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fdiagnostics-color
cd src
git clone https://github.com/uzh-rpg/agile_autonomy.git
vcs-import < agile_autonomy/dependencies.yaml
cd rpg_mpl_ros
git submodule update --init --recursive

#install extra dependencies (might need more depending on your OS)
sudo apt-get install libqglviewer-dev-qt5

# Install external libraries for rpg_flightmare
sudo apt install -y libzmqpp-dev libeigen3-dev libglfw3-dev libglm-dev

# Install dependencies for rpg_flightmare renderer
sudo apt install -y libvulkan1 vulkan-utils gdb

[2] 先安装Open3D

源码安装C++版本的open3D， v0.10.0. 由于采用gcc6编译，因此不用最新版本v0.13.0的open3D。

git clone --recursive https://github.com/intel-isl/Open3D

# You can also update the submodule manually
git submodule update --init --recursive

# 切换到指定版本
git checkout  v0.10.0

# On Ubuntu
util/install_deps_ubuntu.sh

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<open3d_install_directory> ..
# On Ubuntu
make -j$(nproc)
make install

[3] 修改Open3D的相关路径

由于Open3D安装到指定的路径，因此，需要修改源码里面相应的open3D的查找路径。
修改下面三个文件中的Open3D查找路径：

mpl_test_node/CMakeLists.txt
open3d_conversions/CMakeLists.txt
agile_autonomy/data_generation/traj_sampler/CMakeLists.txt

对应行 find_package(Open3D HINTS *：

find_package(Open3D HINTS /home/yourname/open3d_install/lib/cmake/)

[4] 开始编译

catkin build

这里还是会报找不到Open3D，如下：

CMake Error at /home/wxm/Documents/codes/agile_automomy_wxm/devel/share/open3d_conversions/cmake/open3d_conversionsConfig.cmake:173 (message):
  Project 'mpl_test_node' tried to find library 'Open3D'.  The library is
  neither a target nor built/installed properly.  Did you compile project
  'open3d_conversions'? Did you find_package() it before the subdirectory
  containing its code is included?

解决方法: 修改 agile_automomy_ws/devel/share/open3d_conversions/cmake/open3d_conversionsConfig.cmake 的第157行，增加Open3D的路径：

foreach(path  *;/home/yourname/open3d_install/lib)

然后再继续编译，

# Build and re-source the workspace
catkin build

[5] 报错2

error: missing template arguments before ‘timing_spline’

解决方法：修改文件 agile_automomy_wxm/src/agile_autonomy/data_generation/traj_sampler/src/traj_sampler.cpp 第266行，如下：

Timing<double> timing_spline;

[6] 报错3

error: missing template arguments before ‘(’ token
       Eigen::Quaternion(std::cos(-cam_pitch_angle_ / 2.0), 0.0,

解决方法：
修改 agile_automomy_wxm/src/agile_autonomy/data_generation/agile_autonomy/src/agile_autonomy.cpp的第461行为：

Eigen::Quaterniond(std::cos(-cam_pitch_angle_ / 2.0), 0.0,
                        std::sin(-cam_pitch_angle_ / 2.0), 0.0);

[7] 运行中报错

运行时，可能会报找不到一些python库，根据提示，直pip安装即可。

运行时如果报cv_bridge报如下错误，这是需要源码编译一个cv_bridge.

from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

源码安装cv_bridge

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