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ASCC2022 - TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots

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TROT-Q

ASCC2022 - Eungchang Mason Lee, Jinwoo Jeon, and Hyun Myung "TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots"

  • Tracking detected target (YOLOv4-tiny-3l network is used)
  • FAST-LIO2 SLAM is used to estimate the states
  • Traversability and obstacle collision are checked
  • Minimum Jerk Trajectory is tracked
  • High-level velocity MPC control
  • Low-level PID control

Dependencies

  • OpenCV version >= 4.4.0
  • cv_bridge
  • ROS and Gazebo
    • refer here
    • $ sudo apt install ros-<distro>-desktop-full
  • Dependencies
$ sudo apt install ros-melodic-gazebo-plugins ros-melodic-ros-control ros-melodic-ros-controllers
$ sudo apt install ros-melodic-hector-gazebo-plugins

$ wget -O ubuntu.sh https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/setup/ubuntu.sh
$ wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/setup/requirements.txt
$ source ubuntu.sh
$ sudo apt upgrade libignition-math4
  • This Repo
$ cd ~/your_workspace/src

$ git clone --recursive https://github.com/engcang/trot-q

$ cd trot-q/gazebo_maps
$ tar -xf height_maze.tar.xz
$ tar -xf common_models.tar.xz

$ cd ..
$ echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/gazebo_maps/height_maze:$(pwd)/gazebo_maps/common_models" >> ~/.bashrc
$ . ~/.bashrc

$ cd ~/your_workspace
$ catkin build -DCMAKE_BUILD_TYPE=Release

How to run

  • Launch Gazebo world
    • Change world in the launch file, if you want.
    • Check dev of joystick to manually control Jackal in the launch file.
$ roslaunch trot-q gazebo.launch
  • Run TROT-Q
$ roslaunch trot-q main.launch

Components

  • ANYMAL-B Gazebo model from here
    • Many unnecessary files are trimmed
  • Champ quadruped robot controller from here
  • Gazebo map, made by myself from here
  • Gazebo Jackal Gazebo model from here
    • Many unnecessary files are trimmed
  • Gazebo Ouster - referred here1 and here2
    • Many unnecessary files are trimmed
    • GPU-ray is enabled as here

SLAM

Object Detection

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ASCC2022 - TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots

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