Linux 35.5 + JetPack v5.1.3@FUEL编译安装

1. 源由
2. 编译&安装
- Step 1：依赖库安装
- Step 2：建立工程
- Step 3：编译工程
- Step 4：安装工程
3. 问题汇总
- 3.1 fuel_planner/exploration_manager - dw
- 3.2 fuel_planner/plan_env - OpenCV库
- 3.3 fuel_planner/plan_manage - dw库
- 3.4 uav_simulator/local_sensing - CUDA优化
4. 创建pcd环境
5. 总结
6 补充

1. 源由

香港HKUST Aerial Robotics Group开发了一系列基础技术，使空中无人机能够在复杂环境中自主运行。研究涵盖了空中自主导航建模比较完整技术栈，重点在于状态估计、地图绘制、轨迹规划、多机协调以及使用低成本传感和计算组件进行测试平台开发，其代码也被开源在Github - HKUST-Aerial-Robotics。

若能很好的借鉴并应用上述技术，在实际领域进行应用拓展，将会对无人机的应用得到显著提升，进而突破闭源商业系统的垄断地位。

从HKUST维护的Fast-Planner情况看，可能更偏向学术，有很多兼容性问题，也没有足够的人力维护；不过貌似HKUST - FUEL可能是更加新的版本。

segfault in fast_planner_node on jetson orin Linux 35.5.0 #175
对视野范围外的障碍物留有余量的算法求开源，即fastplanner第三篇论文的内容 #162

因此，在《Linux 35.5 + JetPack v5.1.3@Fast-Planner编译安装》基础上，开始FUEL编译安装。

2. 编译&安装

Step 1：依赖库安装

$ sudo apt-get install libarmadillo-dev ros_${ROS_VERSION_NAME}_nlopt

Step 2：建立工程

$ mkdir -p ${YOUR_WORKSPACE_PATH}/src
$ cd ${YOUR_WORKSPACE_PATH}/src
$ git clone https://github.com/HKUST-Aerial-Robotics/FUEL.git

注：若存在网络问题，请使用git协议clone代码。git协议始终比https稳定，但需要注意ssh key的安装问题。

Step 3：编译工程

$ cd ${YOUR_WORKSPACE_PATH}
$ catkin_make

Step 4：安装工程

略，因为暂时不涉及软件的部署应用，相关模拟命令参考：

运行Rviz虚拟环境

$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && roslaunch exploration_manager rviz.launch

运行模拟程序

$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && roslaunch exploration_manager exploration.launch

3. 问题汇总

$ git log -n 1
commit de2bc5d2e256f2cf5de8e3a60196e55e3854e45b (HEAD -> main, origin/main, origin/HEAD)
Author: Boyu Zhou <405540572@qq.com>
Date:   Wed Aug 2 15:43:35 2023 +0800

    Update README.md

注1：以上为本次checkout版本，版本差异，可能会导致问题的差异。
注2：FUEL编译是在Fast-Planner基础上进行的，因此有些组件已经默认安装了；如果全新安装，请参考：《Linux 35.5 + JetPack v5.1.3@Fast-Planner编译安装》。

3.1 fuel_planner/exploration_manager - dw

$ git diff fuel_planner/exploration_manager/CMakeLists.txt
diff --git a/fuel_planner/exploration_manager/CMakeLists.txt b/fuel_planner/exploration_manager/CMakeLists.txt
index 189293c..44b7003 100755
--- a/fuel_planner/exploration_manager/CMakeLists.txt
+++ b/fuel_planner/exploration_manager/CMakeLists.txt
@@ -47,7 +47,6 @@ add_executable(exploration_node
   )
 target_link_libraries(exploration_node
   ${catkin_LIBRARIES}
-  # -ldw
   )

 # add_library(exploration_manager
@@ -66,4 +65,4 @@ target_link_libraries(write_tsp
 add_executable(load_obj test/load_obj.cpp)
 target_link_libraries(load_obj
   ${catkin_LIBRARIES} ${PCL_LIBRARIES}
-)
\ No newline at end of file
+)

3.2 fuel_planner/plan_env - OpenCV库

$ git diff fuel_planner/plan_env/CMakeLists.txt
diff --git a/fuel_planner/plan_env/CMakeLists.txt b/fuel_planner/plan_env/CMakeLists.txt
index 7402df4..198950f 100755
--- a/fuel_planner/plan_env/CMakeLists.txt
+++ b/fuel_planner/plan_env/CMakeLists.txt
@@ -49,6 +49,7 @@ add_library( plan_env
 target_link_libraries( plan_env
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
+    ${OpenCV_LIBS}
     )

 add_executable(obj_generator

3.3 fuel_planner/plan_manage - dw库

$ git diff fuel_planner/plan_manage/CMakeLists.txt
diff --git a/fuel_planner/plan_manage/CMakeLists.txt b/fuel_planner/plan_manage/CMakeLists.txt
index 3de89b0..5e2de40 100755
--- a/fuel_planner/plan_manage/CMakeLists.txt
+++ b/fuel_planner/plan_manage/CMakeLists.txt
@@ -49,7 +49,6 @@ add_executable(fast_planner_node
   )
 target_link_libraries(fast_planner_node
   ${catkin_LIBRARIES}
-  -ldw
   )

 add_library(plan_manage
@@ -59,7 +58,7 @@ add_library(plan_manage
 target_link_libraries(plan_manage ${catkin_LIBRARIES})

 add_executable(traj_server src/traj_server.cpp)
-target_link_libraries(traj_server ${catkin_LIBRARIES} -ldw)
+target_link_libraries(traj_server ${catkin_LIBRARIES})
 # add_dependencies(traj_server ${${PROJECT_NAME}_EXPORTED_TARGETS})

 # benchmark node
@@ -88,4 +87,4 @@ add_executable(proc_msg2
 target_link_libraries( proc_msg2
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
-    )
\ No newline at end of file
+    )

3.4 uav_simulator/local_sensing - CUDA优化

$ git diff uav_simulator/local_sensing/CMakeLists.txt
diff --git a/uav_simulator/local_sensing/CMakeLists.txt b/uav_simulator/local_sensing/CMakeLists.txt
index a126b2e..982b82f 100644
--- a/uav_simulator/local_sensing/CMakeLists.txt
+++ b/uav_simulator/local_sensing/CMakeLists.txt
@@ -3,8 +3,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
 SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

-# set(ENABLE_CUDA true)
-set(ENABLE_CUDA false)
+set(ENABLE_CUDA true)
+#set(ENABLE_CUDA false)

 if(ENABLE_CUDA)
   find_package(CUDA REQUIRED)
@@ -17,7 +17,8 @@ if(ENABLE_CUDA)
 #       -gencode arch=compute_50,code=sm_50;
 #       -gencode arch=compute_52,code=sm_52;
 #       -gencode arch=compute_60,code=sm_60;
-      -gencode arch=compute_61,code=sm_61;
+#       -gencode arch=compute_61,code=sm_61;
+        -gencode arch=compute_87,code=sm_87;
   )

   SET(CUDA_PROPAGATE_HOST_FLAGS OFF)

4. 创建pcd环境

运行Rviz虚拟环境

$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && roslaunch exploration_manager rviz.launch

然后运行map_generator

$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && rosrun map_generator click_map

然后在 Rviz 中，使用 2D Nav Goal 工具（快捷键 G）来创建你的地图。两个连续点击的点形成一面墙。以下是一个示例：
在这里插入图片描述

完成后，在另一个终端运行以下节点来保存地图：

$ source devel/setup.bash && rosrun map_generator map_recorder ~/

通常，一个名为 tmp.pcd 的文件会保存在 ~/. 你可以将 ~/ 替换为任何你想要的位置。最后，你可以按照这里提到的方法使用这个文件进行探索。

5. 总结

依然存在segfault 等问题： segfault in nlopt_set_precond_max_objective, which is from ros-noetic-nlopt #72
从Fork角度看：貌似该版本相较于Fast-Planner更新，且短期内有人维护
另外，可以考虑尝试FC-Planner和RACER。其实这个是一个系列的开发代码，各种尝试就能找到一些类似的问题（这也是版本管理的重要性）。

总体来说，都能编译通过，虽然执行存在各种问题，待查！！！

期望能尽快看到类似模拟效果：

在这里插入图片描述

6 补充

当前版本Readme.md文件仍然没有更新，其实生成的CMakeLists.txt已经含有set(CMAKE_CXX_STANDARD 14)。

daniel@nvidia:~/HKUST/FUEL/src$ pwd
/home/daniel/HKUST/FUEL/src
daniel@nvidia:~/HKUST/FUEL/src$ cat CMakeLists.txt
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 3.0.2)

project(Project)

set(CATKIN_TOPLEVEL TRUE)
set(CMAKE_CXX_STANDARD 14)

# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
  RESULT_VARIABLE _res
  OUTPUT_VARIABLE _out
  ERROR_VARIABLE _err
  OUTPUT_STRIP_TRAILING_WHITESPACE
  ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
  # searching fot catkin resulted in an error
  string(REPLACE ";" " " _cmd_str "${_cmd}")
  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()

# include catkin from workspace or via find_package()
if(_res EQUAL 0)
  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
  # include all.cmake without add_subdirectory to let it operate in same scope
  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
  add_subdirectory("${_out}")

else()
  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
  # or CMAKE_PREFIX_PATH from the environment
  if(NOT DEFINED CMAKE_PREFIX_PATH)
    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
      if(NOT WIN32)
        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
      else()
        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
      endif()
    endif()
  endif()

  # list of catkin workspaces
  set(catkin_search_path "")
  foreach(path ${CMAKE_PREFIX_PATH})
    if(EXISTS "${path}/.catkin")
      list(FIND catkin_search_path ${path} _index)
      if(_index EQUAL -1)
        list(APPEND catkin_search_path ${path})
      endif()
    endif()
  endforeach()

  # search for catkin in all workspaces
  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
  find_package(catkin QUIET
    NO_POLICY_SCOPE
    PATHS ${catkin_search_path}
    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)

  if(NOT catkin_FOUND)
    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
  endif()
endif()

catkin_workspace()