Project SHEREC Navigation

This repository provides an example of Aerostack2 navigation capabilities developed within the European-funded SHEREC project.

Setup using Docker (Recommended)

Go to the root folder of the repository and run:

xhost + # this will enable gazebo visualization
docker compose up -d # use the -d for keep the container alive in background

With this there is a running instance of the container with this project mounted in /root/sherec_nav. Now you can run as much terminals as you need by running:

docker exec -it as2_sherec_nav /bin/bash

For stopping the container run xhost - ; docker compose down command on the repo root folder. This will also remove the access to the XServer from the container.

Native Setup (without docker)

Work in progress...

Launching the Navigation Example

./launch_as2.bash

Launch script will display three different simulation scenarios:

Choose simulation config file to open:
     1	sim_config/world_3d_lidar.json
     2	sim_config/world_depth_cam.json
     3	sim_config/world_planar_lidar.json

Curently, only scenario 1 is ready to go.

Interactive Navigation

Mission (python) navigation

python mission_path_planner_test.py

Troubleshooting

Work in progress...

Citation

If you use Aerostack2 in your research, please cite:

• M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, "Aerostack2: A software framework for developing multi-robot aerial systems", ArXiv DOI 2303.18237.

Acknowledgments

This work has received funding from the European Union’s Horizon Europe research and innovation programme under Project No. HZ230070443 SHEREC — Safe, Healthy and Environmental Ship Recycling.