IEEE UAV Competition 2022 - link1, link2

• IEEE UAV Competition 2022 - Low Power Computer Vision Challenges (LPCVC): Chase
• E. Lee, D. Lee, H. Lim, S. Song, and H. Myung, "Non-uniform motion target tracking system for UAVs," Korea Robotics Society Conference (KRoC), 2022.
• Video - https://youtu.be/zObqq5_M4UA

Team: Hercules

Members: EungChang Lee, Dongkyu Lee, HyungTae Lim, Seungwon Song

Testing setup

• CPU: i9-10900K, GPU: RTX3080
• CUDA version 11.5.119
• cuDNN 8.3.1 for CUDA 11.5
• OpenCV version 4.5.2 with CUDA enabled (not ROS default version) - reference
  • with the options below

    $ cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_C_COMPILER=gcc-6 \
    -D CMAKE_CXX_COMPILER=g++-6 \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D OPENCV_GENERATE_PKGCONFIG=YES \
    -D WITH_CUDA=ON \
    -D OPENCV_DNN_CUDA=ON \
    -D WITH_CUDNN=ON \
    -D CUDA_ARCH_BIN=8.6 \
    -D CUDA_ARCH_PTX="" \
    -D ENABLE_FAST_MATH=ON \
    -D CUDA_FAST_MATH=ON \
    -D WITH_CUBLAS=ON \
    -D WITH_LIBV4L=ON \
    -D WITH_GSTREAMER=ON \
    -D WITH_GSTREAMER_0_10=OFF \
    -D WITH_QT=ON \
    -D WITH_OPENGL=ON \
    -D BUILD_opencv_cudacodec=OFF \
    -D CUDA_NVCC_FLAGS="--expt-relaxed-constexpr" \
    -D WITH_TBB=ON \
    -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.5.2/modules \
    ../

• cv_bridge manually built with new OpenCV version 4.5.2 (not ROS default version) - reference
• ROS melodic with Ubuntu 18.04 LTS

How to install and setup

• Assuming PX4-SITL simulator is already installed through following instructions to install PX4-Avoidance package

• Clone the repository

  $ git clone --recursive https://github.com/engcang/ieee_uav_2022

• Setup UAVCC-simulator

  
  $ cd ieee_uav_2022/uavcc-simulator/trial_1_setup
  $ mkdir build && cd build
  $ cmake ..
  $ make

$ cd ieee_uav_2022/uavcc-simulator/trial_2_setup $ mkdir build && cd build $ cmake .. $ make

$ cd ieee_uav_2022/uavcc-simulator $ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/trial_1_setup:$(pwd)/trial_2_setup" >> ~/.bashrc $ source ~/.bashrc

$ cd ieee_uav_2022/uavcc-simulator $ echo "export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$(pwd)/trial_1_setup/build:$(pwd)/trial_2_setup/build" >> ~/.bashrc $ source ~/.bashrc

+ Setup `OOQP`
    + Dependencies.
    ~~~shell
    $ sudo apt-get install gfortran
    $ sudo apt-get install doxygen
    $ sudo apt-get install texlive-latex-base

+ Install `ma27` and type below commands in MA27's folder.
~~~shell
$ cd ieee_uav_2022/ma27-1.0.0
$ ./configure
$ make
$ sudo make install
~~~
+ Install `OOQP` and type below commands in OOQP's folder.
~~~shell
$ cd ieee_uav_2022/OOQP
$ ./configure
$ make 
$ sudo make install
~~~

• Build this Repo

  
  $ cd ieee_uav_2022/
  $ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/drone_models" >> ~/.bashrc
  $ source ~/.bashrc

$ cd .. $ catkin build -DCMAKE_BUILD_TYPE=Release

---

<br>

### How to run
+ Run `roscore`
~~~shell
$ roscore

• Run rviz for debugging

  $ roscd ieee_uav
  $ rviz -d rviz.rviz

• Run rqt_plot to see distance between rover and the UAV

  
  $ rqt_plot

add /distance/data

+ Launch Gazebo world
~~~shell
$ roslaunch ieee_uav trial1.launch

or

$ roslaunch ieee_uav trial2.launch

• Run ieee_uav

  $ roslaunch ieee_uav main.launch

Important: launching gazebo and running the main code should be done in a short second (ASAP).

Expected result

• UAV starts to track the rover
• Paths and debugging images should be visualized in rviz
• YOLO detection should work at least at 100Hz, if you setup CUDA, cuDNN, OpenCV, and cv_bridge properly
  • Note, the inference can work upto at 100Hz purely, but it works at fixed 15Hz actually, considering limited computational resource of the UAV.

References

• Targer motion prediction (Bezier curve) - Fast Tracker
• YOLO - ROS code
• MPC - Googling...