1. 源由

• Fast-Planner
• FUEL
• RACER
• ego-planner

以上几份开源代码，基本上都是同一个性质的内容：在复杂环境中自主建模导航运行。

最近编译尝试运行下这几份代码，发现或多或少的出现了一些问题：

• Linux 35.5 + JetPack v5.1.3@Fast-Planner编译安装
• Linux 35.5 + JetPack v5.1.3@FUEL编译安装
• Linux 35.5 + JetPack v5.1.3@RACER编译安装

最后一份ego-planner代码，也来尝试下，获取有意外的收货。

2. 编译&安装

• 确认本地ROS版本：

$ rosversion --distro
noetic

• 本次编译代码版本：

$ git log -n 1
commit 0835f963dcfadce156dbec8ab66b93930955a87c (HEAD -> master, origin/master, origin/HEAD)
Author: Xin Zhou <923137104@qq.com>
Date:   Thu Mar 16 21:01:05 2023 +0800

    Update README.md

• 系统安装不再赘述，详见：Linux 35.5 + JetPack v5.1.3@ros-noetic安装

Step 1：依赖库安装

$ sudo apt-get install libarmadillo-dev

Step 2：建立工程

$ mkdir -p ${YOUR_WORKSPACE_PATH}/src
$ cd ${YOUR_WORKSPACE_PATH}/src
$ git clone git@github.com:ZJU-FAST-Lab/ego-planner.git

Step 3：编译工程

$ cd ego-planner
$ catkin_make

或者

$ cd ego-planner
$ catkin_make -DCMAKE_BUILD_TYPE=Release

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：

$ source devel/setup.bash && roslaunch ego_planner simple_run.launch

或者

1. 运行Rviz虚拟环境

$ source devel/setup.bash
$ roslaunch ego_planner rviz.launch

2. 运行模拟程序

$ source devel/setup.bash
$ roslaunch ego_planner run_in_sim.launch

3. 问题汇总

3.1 planner/plan_env - OpenCV

$ git diff src/planner/plan_env/CMakeLists.txt
diff --git a/src/planner/plan_env/CMakeLists.txt b/src/planner/plan_env/CMakeLists.txt
index 83219e3..e677639 100755
--- a/src/planner/plan_env/CMakeLists.txt
+++ b/src/planner/plan_env/CMakeLists.txt
@@ -46,4 +46,5 @@ add_library( plan_env
 target_link_libraries( plan_env
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
+    ${OpenCV_LIBS}
     )

3.2 uav_simulator/local_sensing - CUDA优化

$ git diff src/uav_simulator/local_sensing/CMakeLists.txt
diff --git a/src/uav_simulator/local_sensing/CMakeLists.txt b/src/uav_simulator/local_sensing/CMakeLists.txt
index c2be3ac..5362408 100644
--- a/src/uav_simulator/local_sensing/CMakeLists.txt
+++ b/src/uav_simulator/local_sensing/CMakeLists.txt
@@ -5,8 +5,8 @@ SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
 ADD_COMPILE_OPTIONS(-std=c++11 )
 ADD_COMPILE_OPTIONS(-std=c++14 )

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

 if(ENABLE_CUDA)
   find_package(CUDA REQUIRED)
@@ -20,7 +20,8 @@ if(ENABLE_CUDA)
 #       -gencode arch=compute_52,code=sm_52;
 #       -gencode arch=compute_60,code=sm_60;
 #       -gencode arch=compute_61,code=sm_61;
-      -gencode arch=compute_75,code=sm_75;
+#       -gencode arch=compute_75,code=sm_75;
+        -gencode arch=compute_87,code=sm_87;
   )

   SET(CUDA_PROPAGATE_HOST_FLAGS OFF)

4. 总结

本次顺利实现了Jetson Orin Nano上的模拟导航飞行。