minicheetah-perception

This repo contains packages for running the perception system on the mini-cheetah sensor suite.

Dependencies

Please check each submodule for details.

• LCM
• PCL
• opencv

Installation

git clone --recursive https://github.com/UMich-CURLY/minicheetah-perception.git

Use scripts to build inekf and octomap

./scripts/build_submodules.sh

Or you can build them manually

install inekf

cd submodules/invariant-ekf/
mkdir build
cd build 
cmake .. 
make

install semantic octomap

cd submodules/octomap/
mkdir build
cd build
cmake ..
make

Intel Realsense SDK 2.0

We use Intel RealSense camera for data input

• https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md
• https://github.com/IntelRealSense/realsense-ros

ROS packages

We have several packages:

• BKISemanticMapping: generates semantic mapping from segmented images
• SegmentationMapping: segmented input images
• invariant-ekf-ros: ros wrapper of the invariant ekf
• minicheetah-lcm2ros: converts lcm messages published from mini cheetah to ros messages
• octomap_msgs: dependancy for mapping
• octomap_ros: dependancy for mapping
• ros_numpy: dependancy for mapping

Use minicheetah branch for invariant-ekf-ros

cd catkin_ws/src/invariant-ekf-ros/
git checkout minicheetah

Then build the catkin workspace, you can use the script or manually build it

./scripts/catkin_make.sh

cd catkin_ws
catkin_make install -DCMAKE_BUILD_TYPE=Release -DOCTOMAP_DIR=${your_octomap_source_directory}/lib/cmake/octomap/ -Doctomap_DIR=${your_octomap_source_directory}/lib/cmake/octomap/

If there are errors complainning missing .h files, try to catkin_make again, because those repositories are dependicies of each other.

Run

1. Make sure mini cheetah is running and publishing lcm messages
2. run lcm2ros by script

./scripts/run_lcm2ros.sh

3. publish RealSense images to ROS

./scripts/run_realsense_ros.sh

4. run mapping

./scripts/run_mapping.sh

5. record ros messages

./scripts/record_ros.sh