README.md

Projeto de Implementação 2 - uav_rgbmul

Neste repositório se encontra o pacote uav_rgbmul utilizado para a execução do Projeto de Implementação 2, da disciplina Robôs Móveis Autônomos (RMA) - DC UFSCar

Dependências ROS 1 @ Ubuntu 20.4

Durante a disciplina foram instalados o ROS 1 noetic e os pacotes ROS necessários de acordo a lista a seguir ou no aquivo ROS_requirements.txt:

• sudo apt-get install git-all
• sudo apt install ros-noetic-hector-gazebo
• sudo apt install ros-noetic-velodyne-description
• sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
• ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
• ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
• ros-noetic-rosserial-python ros-noetic-rosserial-client \
• ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
• ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
• ros-noetic-compressed-image-transport ros-noetic-rqt* \
• ros-noetic-rviz \
• ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers
• sudo apt install ros-noetic-dynamixel-sdk
• sudo apt install ros-noetic-turtlebot3-msgs
• sudo apt install ros-noetic-turtlebot3
• sudo apt-get install ros-noetic-cmake-modules \
• ros-noetic-velodyne-gazebo-plugins \
• python3-wstool \
• python3-catkin-tools \
• ros-noetic-ompl \
• ros-noetic-navfn \
• ros-noetic-dwa-local-planner \
• ros-noetic-costmap-2d \
• ros-noetic-teb-local-planner \
• ros-noetic-robot-self-filter \
• ros-noetic-pointcloud-to-laserscan \
• ros-noetic-ros-numpy
• sudo apt-get install ros-noetic-openslam-gmapping
• sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
• sudo apt-get install ros-noetic-kobuki ros-noetic-kobuki-core
• sudo apt-get install ros-noetic-kobuki-gazebo

Dependências Python3 @ Ubuntu 20.4

Além dos pacotes obtidos durante a execução da disciplina, um snapshot das dependências dos códigos python estão a seguir ou no arquivo Python_requirements.txt:

• actionlib==1.13.2
• alabaster==0.7.8
• angles==1.9.13
• apturl==0.5.2
• argcomplete==2.0.0
• attrs==19.3.0
• autobahn==17.10.1
• Automat==0.8.0
• Babel==2.6.0
• base-local-planner==1.17.1
• bcrypt==3.1.7
• beautifulsoup4==4.8.2
• blinker==1.4
• bloom==0.10.7
• bondpy==1.8.6
• breezy==3.0.2
• Brlapi==0.7.0
• cached-property==1.5.2
• camera-calibration==1.16.0
• camera-calibration-parsers==1.12.0
• catkin==0.8.10
• catkin-pkg==0.4.24
• catkin-pkg-modules==0.4.24
• catkin-tools==0.8.5
• cbor==1.0.0
• Cerberus==1.3.4
• certifi==2019.11.28
• chardet==3.0.4
• classproperties==0.2.0
• Click==7.0
• colorama==0.4.3
• command-not-found==0.3
• configobj==5.0.6
• constantly==15.1.0
• controller-manager==0.19.5
• controller-manager-msgs==0.19.5
• coverage==6.3.2
• crcmod==1.7
• cryptography==2.8
• cupshelpers==1.0
• cv-bridge==1.16.0
• cycler==0.10.0
• Cython==0.29.14
• datafiles==1.2
• dbus-python==1.2.16
• defer==1.0.6
• defusedxml==0.6.0
• Deprecated==1.2.7
• diagnostic-analysis==1.11.0
• diagnostic-common-diagnostics==1.11.0
• diagnostic-updater==1.11.0
• distro==1.4.0
• distro-info===0.23ubuntu1
• docutils==0.16
• drone-wrapper==1.4.2
• dulwich==0.19.15
• duplicity==0.8.12.0
• dynamic-reconfigure==1.7.2
• dynamixel-sdk==3.7.51
• empy==3.3.2
• entrypoints==0.3
• fasteners==0.14.1
• fastimport==0.9.8
• future==0.18.2
• gazebo-plugins==2.9.2
• gazebo-ros==2.9.2
• gazebo-video-monitor-utils==0.7.0
• gencpp==0.6.5
• geneus==3.0.0
• genlisp==0.4.18
• genmsg==0.5.16
• gennodejs==2.0.2
• genpy==0.6.15
• gitman==3.1
• gnupg==2.3.1
• gpg===1.13.1-unknown
• html5lib==1.0.1
• httplib2==0.14.0
• hyperlink==19.0.0
• idna==2.8
• image-geometry==1.16.0
• imagesize==1.2.0
• importlib-metadata==1.5.0
• importlib-resources==5.6.0
• incremental==16.10.1
• interactive-markers==1.12.0
• Jinja2==2.10.1
• joint-state-publisher==1.15.1
• joint-state-publisher-gui==1.15.1
• jsonschema==4.4.0
• kconfiglib==14.1.0
• keyring==18.0.1
• kitchen==1.2.6
• kiwisolver==1.0.1
• language-selector==0.1
• laser-geometry==1.6.7
• launchpadlib==1.10.13
• lazr.restfulclient==0.14.2
• lazr.uri==1.0.3
• lockfile==0.12.2
• louis==3.12.0
• lxml==4.5.0
• lz4==3.0.2+dfsg
• macaroonbakery==1.3.1
• Mako==1.1.0
• MarkupSafe==1.1.0
• matplotlib==3.1.2
• mavros==1.13.0
• message-filters==1.15.14
• minilog==2.1
• monotonic==1.5
• more-itertools==4.2.0
• mpi4py==3.0.3
• netifaces==0.10.4
• nose==1.3.7
• numpy==1.22.1
• nunavut==1.7.5
• oauthlib==3.1.0
• olefile==0.46
• opencv-contrib-python==3.4.8.29
• opencv-python==3.4.8.29
• osrf-pycommon==2.0.1
• packaging==20.3
• pandas==1.0.4
• paramiko==2.6.0
• parse==1.19.0
• pexpect==4.6.0
• Pillow==7.0.0
• pkgconfig==1.5.5
• pr2-power-board==1.1.10
• prettytable==0.7.2
• protobuf==3.6.1
• psutil==5.5.1
• py-trees==0.7.6
• py-ubjson==0.14.0
• pyasn1==0.4.2
• pyasn1-modules==0.2.1
• pycairo==1.16.2
• pycryptodomex==3.6.1
• pycups==1.9.73
• pydot==1.4.1
• pydsdl==1.14.1
• pygame==2.1.2
• PyGithub==1.43.7
• Pygments==2.3.1
• PyGObject==3.36.0
• pygraphviz==1.5
• PyHamcrest==1.9.0
• PyICU==2.4.2
• PyJWT==1.7.1
• pymacaroons==0.13.0
• pymavlink==2.4.29
• PyNaCl==1.3.0
• PyOpenGL==3.1.0
• pyOpenSSL==19.0.0
• pyparsing==2.4.6
• pypng==0.0.20
• PyQRCode==1.2.1
• PyQt5==5.14.1
• pyRFC3339==1.1
• pyros-genmsg==0.5.8
• pyrsistent==0.18.1
• pyserial==3.4
• python-apt==2.0.0+ubuntu0.20.4.7
• python-dateutil==2.8.2
• python-debian===0.1.36ubuntu1
• python-gitlab==2.0.1
• python-gnupg==0.4.5
• python-qt-binding==0.4.4
• python-snappy==0.5.3
• PyTrie==0.2
• pytz==2022.1
• pyulog==0.9.0
• pyxdg==0.26
• PyYAML==5.3.1
• qt-dotgraph==0.4.2
• qt-gui==0.4.2
• qt-gui-cpp==0.4.2
• qt-gui-py-common==0.4.2
• reportlab==3.5.34
• requests==2.22.0
• requests-unixsocket==0.2.0
• resource-retriever==1.12.7
• roman==2.0.0
• ros-numpy==0.0.5
• rosbag==1.15.14
• rosboost-cfg==1.15.8
• rosclean==1.15.8
• roscreate==1.15.8
• rosdep==0.21.0
• rosdep-modules==0.21.0
• rosdistro==0.8.3
• rosdistro-modules==0.8.3
• rosdoc-lite==0.2.10
• rosgraph==1.15.14
• roslaunch==1.15.14
• roslib==1.15.8
• roslint==0.12.0
• roslz4==1.15.14
• rosmake==1.15.8
• rosmaster==1.15.14
• rosmsg==1.15.14
• rosnode==1.15.14
• rosparam==1.15.14
• rospkg==1.4.0
• rospkg-modules==1.4.0
• rospy==1.15.14
• rosserial-arduino==0.9.2
• rosserial-client==0.9.2
• rosserial-python==0.9.2
• rosservice==1.15.14
• rostest==1.15.14
• rostopic==1.15.14
• rosunit==1.15.8
• roswtf==1.15.14
• rqt-action==0.4.9
• rqt-bag==0.5.1
• rqt-bag-plugins==0.5.1
• rqt-console==0.4.11
• rqt-controller-manager==0.19.5
• rqt-dep==0.4.12
• rqt-drone-teleop==1.4.2
• rqt-ez-publisher==0.6.1
• rqt-graph==0.4.14
• rqt-ground-robot-teleop==1.4.2
• rqt-gui==0.5.3
• rqt-gui-py==0.5.3
• rqt-image-view==0.4.16
• rqt-joint-trajectory-controller==0.19.0
• rqt-launch==0.4.9
• rqt-logger-level==0.4.11
• rqt-moveit==0.5.10
• rqt-msg==0.4.10
• rqt-multiplot==0.0.12
• rqt-nav-view==0.5.7
• rqt-plot==0.4.13
• rqt-pose-view==0.5.11
• rqt-pr2-dashboard==0.4.0
• rqt-publisher==0.4.10
• rqt-py-common==0.5.3
• rqt-py-console==0.4.10
• rqt-py-trees==0.4.1
• rqt-reconfigure==0.5.4
• rqt-robot-dashboard==0.5.8
• rqt-robot-monitor==0.5.14
• rqt-robot-steering==0.5.12
• rqt-runtime-monitor==0.5.9
• rqt-rviz==0.7.0
• rqt-service-caller==0.4.10
• rqt-shell==0.4.11
• rqt-srv==0.4.9
• rqt-tf-tree==0.6.2
• rqt-top==0.4.10
• rqt-topic==0.4.13
• rqt-web==0.4.10
• ruamel.yaml==0.17.21
• ruamel.yaml.clib==0.2.6
• rviz==1.14.14
• scipy==1.8.0
• screen-resolution-extra==0.0.0
• SecretStorage==2.3.1
• sensor-msgs==1.13.1
• service-identity==18.1.0
• simplejson==3.16.0
• sip==4.19.21
• six==1.14.0
• smach==2.5.0
• smach-ros==2.5.0
• smach-viewer==3.0.1
• smclib==1.8.6
• soupsieve==1.9.5
• Sphinx==1.8.5
• systemd-python==234
• termcolor==1.1.0
• tf==1.13.2
• tf-conversions==1.13.2
• tf2-geometry-msgs==0.7.5
• tf2-kdl==0.7.5
• tf2-py==0.7.5
• tf2-ros==0.7.5
• tf2-sensor-msgs==0.7.5
• toml==0.10.2
• tomlkit==0.7.2
• topic-tools==1.15.14
• turtlebot3-example==1.2.5
• turtlebot3-teleop==1.2.5
• Twisted==18.9.0
• txaio==2.10.0
• typing-extensions==3.10.0.2
• u-msgpack-python==2.1
• ubuntu-advantage-tools==27.7
• ubuntu-drivers-common==0.0.0
• ufw==0.36
• unattended-upgrades==0.1
• unique-id==1.0.6
• urllib3==1.25.8
• usb-creator==0.3.7
• vcstools==0.1.42
• wadllib==1.3.3
• webencodings==0.5.1
• wrapt==1.11.2
• wsaccel==0.6.2
• wstool==0.1.18
• xacro==1.14.13
• xkit==0.0.0
• zipp==3.8.0
• zope.interface==4.7.1

As dependências python são verificadas na etapa de instalação a seguir

Dataset

O conjunto de cenas utilizados no projeto podem ser baixados no link.

Para pré-processamento do dataset foi utilizado a ferramenta computacional Labelbox link.

Instalação

Para a instalação desse pacote, é necessário criar um novo workspace para a instalação e construção do ambiente de simulação. Os passos a seguir realizam a instalação do uav_rgbmul do projeto:

Criação do workspace:

mkdir -p ~/workspace_projeto/src
cd ~/workspace_projeto/
catkin_make
source devel/setup.bash
catkin init
catkin clean

Instalação de dependências

cd ~/workspace_projeto/src



catkin build
cd uav_rgbmul
pip3 install -r requirements.txt

Execução

Vídeo da execução

O vídeo da execução do projeto link.