KVRC 2022: KHNP Virtual Robot Challenge 2022

Hosted by Korea Hydro & Nuclear Power

• Quadrotor UAV is used for this year

Homepage - click

Promotion Video click

● Requirements & Installation

• Mainly tested on ROS Melodic version

• Make sure that you installed ROS desktop full version - refer the wiki page

  • It comes with Qt5, Gazebo, OpenCV version 3.2, cv_bridge
  • In other words, this repo depends on QT5, Gazebo, OpenCV, cv_bridge.

• Make sure that you installed PX4-SITL and mavros

  • Note, we are using commit 96c7fe4978bab2af970a097f4898e024c2d33440 instead of the latest version

  • Note, Lockstep should be disabled by changing the boards/px4/sitl/default.cmake file

    [Unfold to see how to install PX4-SITL properly]

    $ sudo apt-get install ros-<distro>-mavros ros-<distro>-mavros-extras
    $ wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
    $ chmod +x install_geographiclib_datasets.sh
    $ sudo ./install_geographiclib_datasets.sh
    
    $ cd ~/ && git clone https://github.com/PX4/PX4-Autopilot.git
    $ cd PX4-Autopilot
    $ git reset --hard 96c7fe4978bab2af970a097f4898e024c2d33440
    $ git submodule update --init --recursive
    
    $ source PX4-Autopilot/Tools/setup/ubuntu.sh --no-sim-tools --no-nuttx

    • Note, Lockstep should be disabled by changing the boards/px4/sitl/default.cmake file as follows:

    Open the file
    $ cd ~/PX4-Autopilot
    
    $ gedit boards/px4/sitl/default.cmake

    • Edit the last line's ENALBE_LOCKSTEP_SCHEDULER as no

    if(REPLAY_FILE)
      message(STATUS "Building with uorb publisher rules support")
      add_definitions(-DORB_USE_PUBLISHER_RULES)
    
      message(STATUS "Building without lockstep for replay")
      set(ENABLE_LOCKSTEP_SCHEDULER no)
    else()
      #set(ENABLE_LOCKSTEP_SCHEDULER yes)
      set(ENABLE_LOCKSTEP_SCHEDULER no)
    endif()

    • Then build PX4-SITL

    $ cd ~/PX4-Autopilot
    
    # important!!
    $ sudo apt install ros-<distro>-gazebo-plugins
    
    $ export LANG=C.UTF-8
    $ export LC_ALL=C.UTF-8
    $ DONT_RUN=1 make px4_sitl_default gazebo
          When undefined iginition error occurs: (gazebo: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9: undefined symbol: ZN8ignition10fuel_tools12ClientConfi..........
          $ sudo apt upgrade libignition-math4

• Make sure that your Cmake version is more recent than 3.19

  • Check it with $ cmake --version

    [Unfold to see how to upgrade Cmake]

    $ wget https://github.com/Kitware/CMake/releases/download/v3.19.8/cmake-3.19.8.tar.gz
    $ tar zxf cmake-3.19.8.tar.gz && cd cmake-3.19.8
    $ ./bootstrap
    $ make
    $ sudo make install
    
    $ sudo reboot
    $ cmake --version 

• Make sure that your Gazebo version is at least 9.19.0

  [Unfold to see how to upgrade Gazebo]

  • Updating Gazebo - reference link

  $ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
  $ cat /etc/apt/sources.list.d/gazebo-stable.list
  $ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  $ sudo apt-get update
  $ sudo apt-get upgrade

• Finally, install this git repo

  [Unfold to see how to build this repo]

  $ cd <your_workspace>
  $ catkin build
  $ . devel/setup.bash
  
  ## It is better to save sourcing your workspace within .bashrc
  $ echo "source <your_workspace>/devel/setup.bash" >> ~/.bashrc
  
  $ cd <your_workspace>/src
  $ git clone --recursive https://github.com/Woojin-Seol/KVRC2022
  
  !!!Add Gazebo and ROS Path **ONLY ONCE, do NOT run below block again!!!!**
  $ cd KVRC2022/gazebo_map_for_khnp
  $ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/season2:/home/$(whoami)/PX4-Autopilot/Tools/sitl_gazebo/models" >> ~/.bashrc
  $ echo "export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/$(whoami)/PX4-Autopilot/build/px4_sitl_default/build_gazebo" >> ~/.bashrc
  $ echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/$(whoami)/PX4-Autopilot/build/px4_sitl_default/build_gazebo" >> ~/.bashrc
  $ echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/$(whoami)/PX4-Autopilot:/home/$(whoami)/PX4-Autopilot/Tools/sitl_gazebo" >> ~/.bashrc
  
  $ . ~/.bashrc
  
  $ cd <your_workspace>/src
  $ catkin build
  $ . ~/.bashrc

• Your ~/.bashrc should be look like

  ....
  
  source ~/khnp_ws/devel/setup.bash # order is important, workspace's setup.bash should be ahead of ROS_PACKAGE_PATH
  
  export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/mason/PX4-Autopilot/build/px4_sitl_default/build_gazebo
  export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/mason/khnp_ws/src/KVRC2022/gazebo_map_for_khnp/season2:/home/mason/PX4-Autopilot/Tools/sitl_gazebo/models
  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/mason/PX4-Autopilot/build/px4_sitl_default/build_gazebo
  export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/mason/PX4-Autopilot:/home/mason/PX4-Autopilot/Tools/sitl_gazebo # order is important, workspace's setup.bash should be ahead of ROS_PACKAGE_PATH
  
  ....

---

● How to use

• Run launch file

  $ roslaunch khnp_competition gazebo.launch
  $ roslaunch khnp_competition main.launch
  
  For real competition (maintainer only)
  $ roslaunch khnp_competition gazebo.launch course:=real
  $ roslaunch khnp_competition main.launch course:=real

● What you can change / what you have to do

• You can edit codes related to control the UAV. Currently, temporal example controller is included in main.launch file.
• Add your autonomous navigation algorithm code and controller in main.launch.
  • Open main.launch to edit

    <?xml version="1.0"?>
    <launch>
    
    <!-- Edit this part with your own algorithms -->
    
    
    
    <!-- Do not touch below!!!!!!!! -->
      ............
    
    </launch>