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HKUST-Aerial-Robotics / Omni-swarm

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.
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Dependencies #3

Open RocketFan opened 2 years ago

RocketFan commented 2 years ago

Hi,

I found your package very interesting and I want to run it. But I could not find any install script for all dependencies or instruction how to build it. So I start to figure out by myself, but run to issue with your bspline message type. It is used in inf_uwb_ros package with property drone_id, which in FUEL package this message type does not contain any drone_id property. I tried to build it on Ubuntu 20.04 and ROS noetic, but above issue is not related to system incompatibility.

If you could deliver some build instruction, dependencies install script or docker file, that would be awesome. If I can help you with that, just let me know.

Thanks, Kuba

xuhao1 commented 2 years ago

Hi,

I found your package very interesting and I want to run it. But I could not find any install script for all dependencies or instruction how to build it. So I start to figure out by myself, but run to issue with your bspline message type. It is used in inf_uwb_ros package with property drone_id, which in FUEL package this message type does not contain any drone_id property. I tried to build it on Ubuntu 20.04 and ROS noetic, but above issue is not related to system incompatibility.

If you could deliver some build instruction, dependencies install script or docker file, that would be awesome. If I can help you with that, just let me know.

Thanks, Kuba

Thanks for your interest. We will provide a docker image for this very soon.

xuhao1 commented 2 years ago

@RocketFan The docker image is released in README.md. We are working on a more portable version with onnxruntime to replace the fast but unportable TensorRT C++ as the backend for the CNN referencing and a buildable docker file. This version will be released late this month. Usage of automatics tools for running several dockers (see this link) will be released late also, but you may try it yourself before we have enough time to organize the codes. Just download the dataset and Edit the ~/path-to-your-dataset/config_all.yaml

Change the workspace: "/home/xuhao/swarm_ws/" to your own workspace path (this requires the local build of the code! A full docker version will be release soon.).

$rosrun sync_bag_player environment_setup.sh #This is for setup networks and display 
$rosrun ~/path-to-your-dataset/config_all.yaml #This runs the docker with the dataset.

To build on your own environment, you may find every essential package on github.com/HKUST-swarm/. They are currently all open-sourced. For example, you mentioned inf_uwb_ros, the package is on github.com/HKUST-swarm/inf_uwb_ros.