3d Unitree Quadruped robot LIO simulation

prerequisites

• ros1 noetic or melodic

wget http://fishros.com/install -O fishros && . fishros

• preconfiguration

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
sudo apt-get install libgoogle-glog-dev libeigen3-dev libpcl-dev libyaml-cpp-dev liblcm-dev

• onnxruntime configuration

onnx-release or

wget https://github.com/microsoft/onnxruntime/releases/download/v1.21.0/onnxruntime-linux-x64-1.21.0.tgz

then uncompress it and run command below:

sudo cp -r ./onnxruntime-linux-x64-1.21.0 /usr/lib/onnxruntime-linux-x64

clone this repository

git clone https://github.com/pym96/Go2-Adaptive-LIO.git

• compile

catkin build

• run simulation (source devel/setup.bash) first

roslaunch robot_control RobotBringup.launch # Small room scene simulation.
roslaunch robot_control RobotBringupStairs.launch  # Scene simulation with stairs.

• run keyboard cmd control (w a s d to control velocity, space bar to stop)

roslaunch robot_cmd keyboard_teleop.launch 

• run LIO system

roslaunch faster_lio mapping_velodyne.launch 

Reference link

• Onnxruntime : https://github.com/microsoft/onnxruntime.git

• Faster-lio (A light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping.):https://github.com/gaoxiang12/faster-lio.git

• Unitree-guide (The following will quickly introduce the use of unitree_guide in the gazebo simulator. For more usage, please refer to 《四足机器人控制算法--建模、控制与实践》.) :https://github.com/unitreerobotics/unitree_guide.git

Future work

• Terrian analysis with elevation_mapping
• Final 3d planner with things above.....