This is an end-to-end open-source software for nuclear power plant inspection with mobile robot. If You have any question please send info to [email protected] or add issue to this repository.

base station program

https://github.com/JanuszBedkowski/msas_enrich_2023/blob/master/src/mandeye_unicorn/src/base_station_unicorn.cpp

robot program

https://github.com/JanuszBedkowski/msas_enrich_2023/blob/master/src/mandeye_unicorn/src/mandeye_unicorn_imu.cpp

Mandeye unicorn ROS 2

Refer to Docker file for build instruction.

Prerequisites

You need :

• ROS 2 Humble (https://docs.ros.org/en/humble/Installation.html)
• Livox SDK 2, compiled and installed from sources : https://github.com/Livox-SDK/Livox-SDK2
• Some other dependencies:

sudo apt-get install ros-humble-pcl-ros freeglut3-dev libeigen3-dev

Building

Go to mandeye_unicorn workspace and run

colcon build --packages-select mandeye_unicorn

Do not forget to source / add to bash installation:

source ./install/setup.bash 

Robot node

Start robot node:

ros2 run mandeye_unicorn mandeye_unicorn ./mid360_config_lio.json 0 /tmp/ /tmp/

It should run robot driver, Livox listener and everything from MSAS 2023 without any problem.

Base station

In another terminal run : ros2 run mandeye_unicorn base_station_unicorn

Running sim

Install neccessary packages:

apt-get install ros-${ROS_DISTRO}-ackermann-msgs  ros-${ROS_DISTRO}-control-toolbox ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-joy ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-urdfdom ros-${ROS_DISTRO}-vision-msgs ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard ros-${ROS_DISTRO}-topic-tools ros-${ROS_DISTRO}-topic-tools ros-${ROS_DISTRO}-nav-msgs

Download simulator package and unzip and run it

gdown 1vPmKkDh22U8PtkF13Uli1VPlvYEaZlbD && unzip Ros2Sim.zip  -d .
./Ros2Project.GameLauncher

Start robot node, note that you need to point to valid mid360_config_lio.json even running sim:

ros2 run mandeye_unicorn mandeye_unicorn mid360_config_lio.json 1 /tmp/ /tmp/