repository·jazzy·Indexed 43 days ago
https://github.com/jizhang-cmu/autonomy_stack_mecanum_wheel_platformAn autonomy stack for the T-Bot Mecanum wheel platform featuring SLAM, route planning, exploration, and base navigation with collision avoidance and waypoint following. Supports real-robot deployment and Unity-based simulation on Ubuntu 24.04 with ROS2 Jazzy. Includes integration for Mid-360 lidar, motor controllers, and support for ARM architecture (Jetson) via or-tools.
Ceres Solver is an open-source C++ library designed for modeling and solving large, complex optimization problems. It is a mature, high-performance library used in production by Google. It is capable of solving two primary types of optimization problems:
GeographicLib is a C++ library used for geographic projections. It provides geodesic routines necessary for geographic calculations within the autonomy stack.
For detailed information, visit the official website or the API documentation.
This library provides a Java implementation of the geodesic algorithms described by C. F. F. Karney (2013). It is used for calculating geodesic paths and related geographic computations.
For full API documentation, refer to the official GeographicLib Java documentation at: https://geographiclib.sourceforge.io/html/java/
The Unity environment model in the vehicle simulator generates several files at runtime that describe the physical and semantic properties of the simulated space. These files are essential for understanding the environment's geometry, object locations, and traversability.
AssetList.csv: Contains all assets in the environment model, including their poses and semantic rendering colors. This file is generated at runtime.Dimensions.csv: Contains dimension information for the environment assets.Categories.csv: Contains the mapping for asset categories.map.ply: A binary format point cloud representing the environment.traversable_area.ply: A point cloud specifically defining the areas where the robot can move.map.jpg: A screenshot of the segmented point cloud.render.jpg: A visual image render of the environment.object_list.txt: A text file containing a list of objects, their bounding boxes, and labels. Each row follows this schema:
object_id, x (m), y (m), z (m), length (m), width (m), height (m), orientatoin_of_length_edge (rad), label (string)A functional domain_bridge must satisfy several key requirements:
.msg, .srv, .action, or .idl) without requiring explicit code dependencies on those types, ideally by handling serialized data./foo in domain 1 to /bar in domain 2).The sophus Python package provides bindings for Lie group and Lie algebra operations. It is organized into several modules based on the mathematical structure being manipulated. You can use these modules to perform transformations, rotations, and geometric computations required for SLAM and robotics tasks.
Available modules include:
sophus.matrix: Matrix operations.sophus.complex: Complex number operations.sophus.quaternion: Quaternion-based rotations.sophus.so2: Special Orthogonal group in 2D (rotations in 2D).sophus.so3: Special Orthogonal group in 3D (rotations in 3D).sophus.se2: Special Euclidean group in 2D (rigid body motions in 2D).sophus.se3: Special Euclidean group in 3D (rigid body motions in 3D).SuiteSparse is a collection of software packages for sparse matrix operations. The following packages utilize SuiteSparse_config for their build configuration:
| Package | Description |
|---|---|
| AMD | approximate minimum degree ordering |
| CAMD | constrained AMD |
| COLAMD | column approximate minimum degree ordering |
| CCOLAMD | constrained approximate minimum degree ordering |
| UMFPACK | sparse LU factorization, with the BLAS |
| CXSparse | int/long/real/complex version of CSparse |
| CHOLMOD | sparse Cholesky factorization, update/downdate |
| KLU | sparse LU factorization, BLAS-free |
| BTF | permutation to block triangular form |
| LDL | concise sparse LDL' |
| LPDASA | LP Dual Active Set Algorithm |
| RBio | read/write files in Rutherford/Boeing format |
| SPQR | sparse QR factorization (SuiteSparseQR) |
Note: The following packages do not require SuiteSparse_config:
The geographiclib Python package is organized into several specialized modules for geodesic computations:
geographiclib.geodesic: Handles geodesic calculations on an ellipsoid.geographiclib.geodesicline: Provides functionality related to geodesic lines.geographiclib.polygonarea: Used for calculating the area of geographic polygons.geographiclib.constants: Contains physical and mathematical constants used by the library.The ROS TCP Endpoint is a ROS package that acts as a server to accept ROS messages sent from a Unity scene. It is designed to work in conjunction with the ROS TCP Connector scripts within Unity.
To implement this integration, follow the instructions and examples provided in the Unity Robotics Hub repository.
GTSAM provides various examples categorized by application domain. Use these as templates for your own factor graph implementations:
gtsam/slam/pose2SLAM.h.Optimizer object.Sophus is a C++ implementation of Lie groups designed for 2D and 3D geometric problems in Computer Vision and Robotics. It provides mathematical representations for:
SO(2) (2D) and SO(3) (3D).SE(2) (2D) and SE(3) (3D).For detailed API documentation, visit: https://strasdat.github.io/Sophus/
pybind11 is a lightweight, header-only C++ library designed to create seamless Python bindings for existing C++ code. It uses compile-time introspection to infer type information, which minimizes the boilerplate code typically required for traditional extension modules.
Key characteristics:
constexpr for precomputing function signatures at compile time, resulting in smaller binaries.