semanticeight-ros

This repository contains the ROS interface of the object-level mapping and exploration framework presented in the ICRA 2023 paper “Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV”. The main repository is here.

Dependencies

• Ubuntu 20.04 with ROS noetic
• GCC 7+ or clang 6+ (for C++ 17 features and OpenMP)
• CMake 3.10+
• Eigen 3
• OpenCV 3+
• yaml-cpp 5.2+

Install the ros-noetic-desktop-full package by following the ROS Noetic installation instructions and then install the other dependencies:

sudo apt-get --yes install g++ cmake libeigen3-dev libopencv-dev libyaml-cpp-dev python3-catkin-tools

Build

# Create and initialize a new catkin workspace.
source /opt/ros/noetic/setup.bash
mkdir -p ~/semanticeight_ws/src
cd ~/semanticeight_ws
catkin init

# Clone the required repositories.
cd ~/semanticeight_ws/src
git clone --recurse-submodules https://github.com/smartroboticslab/semanticeight-ros.git
git clone --recurse-submodules https://github.com/ethz-asl/mav_comm.git
# Skip the repository below if you plan on using the Habitat-based MAV simulator
# from here: https://github.com/smartroboticslab/habitat-mav-sim.git
git clone --recurse-submodules https://github.com/smartroboticslab/mav_interface_msgs.git

# Build the ROS package.
catkin build -DCMAKE_BUILD_TYPE=Release semanticeight_ros
source ~/semanticeight_ws/devel/setup.bash

Usage

To get started have a look at launch/habitat.launch and its respective config file, config/habitat.yaml. This launch file uses the Habitat-based MAV simulator from here.

Two MAV control interfaces are supported by semanticeight-ros, the SRL interface and the RotorS interface.

License

Copyright 2019-2023 Smart Robotics Lab, Imperial College London, Technical University of Munich
Copyright 2019 Anna Dai
Copyright 2019-2023 Sotiris Papatheodorou

semanticeight is distributed under the BSD 3-clause license.