UAV Maze Solution

The is a UAV maze solution reference utilizing Fast UAV ExpLoration FUEL. To explore using a LiDar and a camera to detect exits. The shortest exit will be identified and the drone will travel toward the shortest exit. Video Demo

Setup

This has been tested on Ubuntu 20.04 and ROS (noetic).

1. Create catkin workspace

    mkdir ~/catkin_maze_solution/src
    cd ~/catkin_maze_solution/src
   

2. Dependencies

   • SSLE

   Adapted from FUEL with Gazebo and PX4 support. Additionaly, this fork includes maze related logic. Follow the readme instructions to install all FUEL & SSLE dependencies.

        git clone https://github.com/luayalshawi/SSLE.git
   

   • Gazebo Plugins

   For realsense sensors and lidar Gazebo plugins, in your workspace, run:

    git clone https://github.com/SeanZsya/gazebo_pulgins
   

3. Clone this repository inside ~/catkin_maze_solution/src

    https://github.com/luayalshawi/maze_solution.git
   

4. Build

    catkin_make
   

5. Source the enviroment. Refer to SSLE readme file for sourcing Gazebo & PX4

Run the challenge

roslaunch maze_solution multi_exp_sim_sslidar.launch

Then the drone will takeoff and enter the offboard mode. Use the 2d Nav Goal in Rviz to trigger the maze exploration.

Issues

In case of unexpected crash in the exploration refer to this as it may be related to nlopt. Unexpected crash