GBPlanner2 release

Author: Mihir Dharmadhikari

.clang-format

@@ -0,0 +1,25 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 80
+DerivePointerAlignment: false
+PointerAlignment: Left
+IncludeBlocks: Regroup
+IncludeCategories:
+  # The the main header for a source file is automatically assigned priority 0
+  # C system headers
+  - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
+    Priority: 1
+  # C++ system headers
+  - Regex:    '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+    Priority: 2
+  # Other libraries' .h files
+  - Regex:    '^<'
+    Priority: 3
+  # Your project's .h files
+  - Regex:    '^"'
+    Priority: 4
+---
+Language: Proto
+BasedOnStyle: Google
+...

README.md

@@ -1,47 +1,81 @@
-# gbplanner_ros
-Graph-based Exploration Planner for Subterranean Environments
+# Graph-based Exploration Planner 2.0
+![swag](img/cerberus_subt_winners.png)
 
-### How to build the planner
-- Clone the package:
-```
-git clone https://github.com/unr-arl/gbplanner_ros
-```
-- Build the package:
-```
-catkin build -DCMAKE_BUILD_TYPE=Release gbplanner_ros
-```
-However, please be aware that the planner requires several dependencies; for example:
-- Mapping framework: either [Voxblox](https://github.com/ethz-asl/voxblox) or [Octomap](https://github.com/OctoMap/octomap)
-- Planner-Control interface package: [pci_mav](https://github.com/unr-arl/pci_mav)
-- MAV simulation: [RotorS](https://github.com/ethz-asl/rotors_simulator), [LiDAR simulator](https://github.com/unr-arl/lidar_simulator.git)
+## Tutorial:
+Please refer to the [wiki](https://github.com/ntnu-arl/gbplanner_wiki/wiki) page for detailed instructions to install and run the demo simulations as well as documentation of the planner interface and parameters.
+More results and video explaination of our method can be found on our website: [Link](https://www.autonomousrobotslab.com/exploration-planning.html)
 
-Hence, to simplify the test process with the planner, we prepare an example workspace [gbplanner_ws](https://github.com/unr-arl/gbplanner_ws), which includes all relevant packages. Please follow the suggested steps in the repo [gbplanner_ws](https://github.com/unr-arl/gbplanner_ws) for further detail.
+## Installation
+These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.
 
-### How to launch the planner
-- Launch file for simulation:
-```
-roslaunch gbplanner gbplanner_sim.launch
+Install necessary libraries:
+
+For Ubuntu 18.04 and ROS Melodic:
+```bash
+sudo apt install python-catkin-tools \
+libgoogle-glog-dev \
+ros-melodic-joy \
+ros-melodic-twist-mux \
+ros-melodic-interactive-marker-twist-server
 ```
-- To trigger the planner in command line, please use the service call:
+For Ubuntu 20.04 and ROS Noetic:
+```bash
+
+sudo apt install python3-catkin-tools \
+libgoogle-glog-dev \
+ros-noetic-joy \
+ros-noetic-twist-mux \
+ros-noetic-interactive-marker-twist-server
 ```
-rosservice call /planner_control_interface/std_srvs/automatic_planning "{}"
+
+
+Clone the workspace <span style="color:red">(UPDATE THE LINK BEFORE RELEASE)</span>.:
+```bash
+git clone [email protected]:ntnu-arl/gbplanner_prerelease_ws.git
+cd gbplanner_prerelease_ws
 ```
-- We provide several types of environment for simulation in the package [planner_gazebo_sim](https://github.com/unr-arl/gbplanner_ros/tree/master/planner_gazebo_sim) including room-and-pillar mine (```pittsburgh_mine.world```), long-wall mine (```edgar_mine.world```), and a model reconstructed from a real mine (```virginia_mine.world```)
 
-### Select the mapping framework
-By default, the planner is compiled with Voxblox. To compile with Octomap, set the flag USE_OCTOMAP to 1:
+Clone and update the required packages:
+```bash
+wstool init
+wstool merge packages_ssh.rosinstall
+wstool update
 ```
-catkin build -DCMAKE_BUILD_TYPE=Release -DUSE_OCTOMAP=1 gbplanner_ros
+
+Build:
+```bash
+catkin config -DCMAKE_BUILD_TYPE=Release
+catkin build
 ```
-Also change the config to Octomap in the gbplanner_sim.launch file
+
+## Running Planner Demo 
+### Aerial Robot Demo
+Download the gazebo model from [here](https://drive.google.com/file/d/1Mx_JKNyx2MEwn56LM5KyP8Z3FM-4I6OS/view?usp=sharing) and extract in the `~/.gazebo/models` folder.
+```bash
+roslaunch gbplanner rmf_sim.launch
 ```
-<arg name="map_config_file" default="$(arg octomap_config_file)"/>
+
+### Ground Robot Demo
+the following command:
+```bash
+roslaunch gbplanner smb_sim.launch
 ```
+In Ubuntu 18.04 with ROS Melodic, the gazebo node might crash when running the ground robot simulation. In this case set the `gpu` parameter to false [here](https://github.com/ntnu-arl/smb_simulator/blob/6ed9d738ffd045d666311a8ba266570f58dca438/smb_description/urdf/sensor_head.urdf.xacro#L20).
+
+## Results
+
+Robot's of Team Cerberus running GBPlanner and GBPlanner2  
+![gbplanner_robots](img/gbplanner_robots.png)
+
+Autonomous exploration mission in the Prize Round of the DARPA Subterranean Challenge Final Event using four ANYmal C legged robots (Chimera, Cerberus, Camel, Caiman), all running GBPlanner2 independantly.
+
+![final_circuit_all_robots](img/cerberus_final_run_compiled_hd.png)
+
+## References
 
-### Tutorial:
-You could find a short tutorial on the plannning algorithm and the overall architecture on our website: [Link](https://www.autonomousrobotslab.com/subtplanning.html)
+### Explanation Video
+[![gbplanner_video](img/gbp2_vid.png)](https://www.youtube.com/watch?v=bTqFp1aODqU&list=PLu70ME0whad9Z4epZQ9VBYagKpyMyhZZ1&index=4)
 
-### References
 If you use this work in your research, please cite the following publication.
 ```
 @inproceedings{dang2019graph,
@@ -56,4 +90,5 @@ If you use this work in your research, please cite the following publication.
 
 You can contact us for any question:
 * [Tung Dang](mailto:[email protected])
-* [Kostas Alexis](mailto:[email protected])
+* [Mihir Dharmadhikari](mailto:[email protected])
+* [Kostas Alexis](mailto:[email protected])

gbplanner/CMakeLists.txt

@@ -1,53 +1,30 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(gbplanner)
-# Set OCTOMAP or VOXBLOX
-option(USE_OCTOMAP "Use OCTOMAP or VOXBLOX" 0)
-if (USE_OCTOMAP)
-  add_definitions(-DUSE_OCTOMAP=${USE_OCTOMAP})
-endif (USE_OCTOMAP)
 
-add_definitions(-std=c++11)
+add_definitions(-std=c++14 -Wall -Wno-sign-compare -Wno-catch-value -Wno-switch -Wno-maybe-uninitialized -Werror=return-type)
 
 find_package(catkin_simple REQUIRED)
 find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(adaptive_obb REQUIRED)
 
 catkin_simple(ALL_DEPS_REQUIRED)
 
 include_directories(
   ${Boost_INCLUDE_DIRS}
-  ${Eigen_INCLUDE_DIRS})
+  ${Eigen_INCLUDE_DIRS}
+  ${planner_common_INCLUDE_DIRS}
+)
 
-if (USE_OCTOMAP)
 cs_add_library(
   ${PROJECT_NAME}
-  src/graph.cpp
-  src/graph_manager.cpp
   src/gbplanner.cpp
   src/rrg.cpp
-  src/trajectory.cpp
-  src/params.cpp
-  src/random_sampler.cpp
   src/gbplanner_rviz.cpp
-  src/map_manager_octomap_impl.cpp
-  src/geofence_manager.cpp)
-else (USE_OCTOMAP)
-cs_add_library(
-  ${PROJECT_NAME}
-  src/graph.cpp
-  src/graph_manager.cpp
-  src/gbplanner.cpp
-  src/rrg.cpp
-  src/trajectory.cpp
-  src/params.cpp
-  src/random_sampler.cpp
-  src/gbplanner_rviz.cpp
-  src/map_manager_voxblox_impl.cpp
-  src/geofence_manager.cpp)
-endif (USE_OCTOMAP)
+)
 
 cs_add_executable(gbplanner_node src/gbplanner_ros_node.cpp)
-target_link_libraries(gbplanner_node ${PROJECT_NAME})
+target_link_libraries(gbplanner_node ${PROJECT_NAME} ${planner_common_LIBRARIES})
 
 cs_install()
 cs_export(LIBRARIES)