基于Prometheus的ego运动规划实现

配置Prometheus环境

下载依赖包

sudo apt-get install ros-melodic-rtabmap*
sudo apt-get install ros-melodic-octomap-*
sudo apt-get install ros-melodic-cartographer*

安装非线性优化工具箱 NLopt并编译（可选）

git clone https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

下载Prometheus项目并编译

git clone https://github.com/amov-lab/Prometheus
#环境变量配置
gedit .bashrc
source ～/Prometheus/devel/setup.bash
#编译
cd Prometheus
sudo chmod 777 ./compile_all.sh (第一次运行才需要执行此赋权命令)
./compile_all.sh
#或者只编译ego代码
./compile_ego.sh

使修改的bashrc生效

source ~/.bashrc

Modules 各模块功能的源代码
Simulator 仿真飞行相关代码
Experiment 真实飞行相关代码

配置px4环境

下载px4固件

git clone https://gitee.com/amovlab/prometheus_px4.git
cd prometheus_px4
git submodule update --init --recursive
pip3 install --user toml empy jinja2 packaging
make amovlab_sitl_default gazebo

PX4编译环境安装（第一次安装PX4环境需要运行）

cd prometheus_px4/Tools/setup
 ## 请在运行此脚本时注意终端的打印信息，保证每一项均顺利安装
 ## 这一步问题最多，一定仔细检查是否正确安装！！！   
 ## 若有某一项失败或一直卡住，请重新运行即可！
source ./ubuntu.sh

若报错则换源（在./ubuntu.sh对应报错部分修改）

pip install 包名 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com

环境变量配置

sudo gedit ~/.bashrc 
#加入
source ${your prometheus path}/Prometheus/devel/setup.bash
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${your prometheus path}/Prometheus/devel/lib
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${your prometheus path}/Prometheus/Simulator/gazebo_simulator/models
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${your prometheus path}/Prometheus/Simulator/gazebo_simulator/amov_models
source ${your px4 path}/prometheus_px4/Tools/setup_gazebo.bash ${your px4 path}/prometheus_px4 ${your px4 path}/prometheus_px4/build/amovlab_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${your px4 path}/prometheus_px4
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${your px4 path}/prometheus_px4/Tools/sitl_gazebo

仿真插件安装

sudo apt-get install ros-melodic-velodyne-gazebo-plugins
sudo apt-get install ros-melodic-octomap-rviz-plugins
sudo apt-get install ros-melodic-turtlebot3-*

Gazebo模型库下载

cd ~/.gazebo/
## 如果之前没有models文件夹的话,创建models文件夹
mkdir -p models
cd ~/.gazebo/models/  
## 这个仓库是从官方仓库(https://github.com/osrf/gazebo_models)复制过来的,会定期更新
git clone https://gitee.com/potato77/gazebo_models

Prometheus仿真功能包编译

cd Prometheus
./compile_gazebo.sh

Gazebo仿真运行测试

roslaunch prometheus_gazebo sitl.launch

仿真环境下实现ego-planner项目

cd Prometheus
## 编译
./compile_ego.sh
## 运行
./ego_test.sh

Missing model.config for model “/home/tju/.gazebo/models/gazebo_models”