Add ros service to spawn world model and get pointcloud at any pose

• Enviroment:
  • Ubuntu 20.04
  • ROS noetic

1. Clone in your ros_ws

   git clone https://github.com/LihanChen2004/autonomous_exploration_development_environment -b noetic-matterport

2. Download Mesh

   If the url is still available:

   wget https://cdn2.flowus.cn/oss/a19fef15-c6a0-40fe-a90e-4bf9f09dd1ed/matterport.zip\?filename\=matterport.zip\&time\=1721271600\&token\=1751d35a9a7be2af3fc8c285ac9e536734c28f471005348328de1934df19cda9\&role\=free

   Or you can download from here

   Unzip and move it to src/vehicle_simulator/mesh . Replace the original matterport folder

3. Install Dependency:

   rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

4. build

   catkin_make

1. Launch

   roslaunch vehicle_simulator system_matterport.launch

2. Init Gazebo to Spawn world model

   Remember to change the absolute Path

   rosservice call /init_gazebo "{
   world_pose: {
       position: {
       x: 0.0, 
       y: 0.0, 
       z: 0.0
       }, 
       orientation: {
       x: 0.0, 
       y: 0.0, 
       z: 0.0, 
       w: 1.0
       }
   }, 
   model_path: '/home/lihanchen2004/AIR_SUMMER/autonomous_exploration_development_environment/src/vehicle_simulator/mesh/matterport/model.sdf'
   }"

3. Get pointcloud at any pose

   rosservice call /get_pointcloud "
   pose: {
       position: {
       x: 2.0,
       y: 2.0,
       z: 0.0
       },
       orientation: {
       x: 0.0,
       y: 0.0,
       z: 0.0,
       w: 1.0
       }
   }"

The repository is meant for leveraging system development and robot deployment for ground-based autonomous navigation and exploration. Containing a variety of simulation environments, autonomous navigation modules such as collision avoidance, terrain traversability analysis, waypoint following, etc, and a set of visualization tools, users can develop autonomous navigation systems and later on port those systems onto real robots for deployment.

Please use instructions on our project page.