• If you do not have docker yet, install it

curl -fsSL https://get.docker.com/ | sudo sh
  sudo usermod -aG docker $USER
##### NVIDIA-Docker, GPU   distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \      && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \      && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update   sudo apt-get install -y nvidia-docker2   sudo systemctl restart docker

• Get the ready-to-go docker image with dockerfile

FROM ghcr.io/engcang/exploration_sota:v1.0
# nvidia-container-runtime     ENV NVIDIAVISIBLEDEVICES \         ${NVIDIAVISIBLEDEVICES:-all}     ENV NVIDIADRIVERCAPABILITIES \         ${NVIDIADRIVERCAPABILITIES:+$NVIDIADRIVERCAPABILITIES,}graphics
USER ubuntu     WORKDIR /home/ubuntu     CMD /bin/bash

• Generate a docker conatiner with run.sh file

#!/bin/sh

XSOCK=/tmp/.X11-unix     XAUTH=/tmp/.docker.xauth     touch $XAUTH     xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
docker run --runtime=nvidia --privileged --gpus all --rm -it \                --volume=$XSOCK:$XSOCK:rw \                --volume=$XAUTH:$XAUTH:rw \                --volume=$HOME:$HOME \                --shm-size=4gb \                --env="XAUTHORITY=${XAUTH}" \                --env="DISPLAY=${DISPLAY}" \                --env=TERM=xterm-256color \                --env=QTX11NO_MITSHM=1 \                --net=host \                exploration:latest                bash

chmod +x run.sh     ./run.sh

• In the docker,

cd ~/
  ls #see .sh files there
# NBVP   ./nbvp.sh
# GBP   ./gbp.sh   !!Then, click "Start planner" in Rviz
# MBP   ./mbp.sh   !!Then, click "Start planner" in Rviz
# AEP   ./aep_gazebo.sh   ./aep.sh lidar #with lidar sensor   ./aep.sh rgbd #with rgbd sensor   rosservice call /mavros/cmd/arming "value: true"   rosservice call /mavros/setmode "basemode: 0 custom_mode: 'OFFBOARD'"
# FUEL   ./fuel.sh   !!Start with "2D Nav Goal" in Rviz
# DSVP   ./dsvptaresim.sh   ./dsvp.sh
# TARE   ./dsvptaresim.sh   ./tare.sh
# OIPP   ./oipp.sh   rosservice call /planner/plannernode/togglerunning "data: true"

Note: When having PX4-SITL and RotorS Simulator at the same time

• They both use libmav_msgs.so file with the same name but different source codes.
• If you have both simulators, do not forget to change the name of either one temporally.

1-1. Install PX4-SITL - for AEP

• Follow here

1-2. Install RotorS Simulator - for NBVP, GBP, MBP, OIPP

• Because of the version issuse, I recommend to install as here
• Get the code and build

cd ~/catkin_ws/src
  git clone https://github.com/ethz-asl/rotors_simulator --recursive
  rm -r rotorssimulator/rotorsdescription
  rm -r rotorssimulator/rotorsgazebo
cd ~/catkin_ws   git clone https://github.com/engcang/exploration-algorithms   mv exploration-algorithms/rotorsdescription src/rotorssimulator/   mv exploration-algorithms/rotorsgazebo src/rotorssimulator/
catkin build -DCMAKEBUILDTYPE=Release

1-3. Install Autonomous Exploration Development Environment - for DSVP, TARE

• Follow here

• Install dependencies and get the code

cd ~/catkin_ws/src
  git clone https://github.com/ethz-asl/nbvplanner.git
  cd nbvplanner
  git submodule update --init --recursive
  
  rm -r rotors # install it as above Section 1-2.
  cd mav_comm && git pull origin master

• Change CMakeLists.txt and build the code

cd ~/catkin_ws/src/nbvplanner/nbvplanner
  wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/nbvp/nbvplanner/CMakeLists.txt
  cd ~/catkinws/src/nbvplanner/interfacenbvp_rotors
  wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/nbvp/interfacenbvprotors/CMakeLists.txt
cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

• Install dependencies and get the code

sudo apt install python-catkin-tools \
  libgoogle-glog-dev \
  ros-melodic-joy \
  ros-melodic-twist-mux \
  ros-melodic-interactive-marker-twist-server \
  ros-melodic-octomap-ros
cd catkin_ws   git clone https://github.com/ntnu-arl/gbplanner_ros.git -b gbplanner2
wstool init   wstool merge ./gbplannerros/packagesssh.rosinstall   wstool update
rm -r src/sim/rotors_simulator #install it as above Section 1-2.

• Build

cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

• Clone and build the code

cd ~/catkin_ws
  git clone https://github.com/ntnu-arl/gbplanner_ws.git
  cd gbplanner_ws
  git checkout origin/melodic
  wstool init
  wstool merge packages_https.rosinstall
  wstool update
mv gbplannerws/src/* ~/catkinws/src/   cd ~/catkin_ws   rm -r src/sim/rotors_simulator # install it as above Section 1-2.

• Change the path of Eigen in

++     //#include <eigen3/Eigen/Dense>     #include <Eigen/Dense>

• Build

cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

!Optionally, for use with OctoMap   catkin build -DCMAKEBUILDTYPE=Release -DUSE_OCTOMAP=1

• Get the code and build

git clone https://github.com/ntnu-arl/mbplanner_ws.git
  cd mbplanner_ws
  git checkout melodic-devel
  wstool init
  wstool merge packages_https.rosinstall
  wstool update
mv mbplannerws/src/* ~/catkinws/src/   cd ~/catkin_ws   rm -r src/sim/rotors_simulator # install it as above Section 1-2.

• Fix the code error

++     // Add     return true;

• Change the path of Eigen in exploration/mbplannerros/plannercommon/include/planner_common/visualizer.h

++   //#include <eigen3/Eigen/Dense>   #include <Eigen/Dense>

• Build

cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

!Optionally, for use with OctoMap   catkin build -DCMAKEBUILDTYPE=Release -DUSE_OCTOMAP=1

• Trouble shooting for planner_common

• Install dependencies and build the code

sudo apt install ros-melodic-octomap* 
  sudo apt-get install libspatialindex-dev
  python2 -m pip install rtree
cd ~/catkin_ws/src/   git clone https://github.com/catkin/catkin_simple.git   git clone https://github.com/mseln/aeplanner.git   cd ..   catkin build -DCMAKEBUILDTYPE=Release
## If PCL errors in rpl_exploration,   ## change compiler to newer than c++14   ## in line 4 for CMakeLists.txt of rpl_exploration

• Install dependencies

sudo apt-get install libarmadillo-dev
  sudo apt-get install libdw-dev
  git clone https://github.com/stevengj/nlopt.git
  cd nlopt
  mkdir build && cd build
  cmake ..
  make
  sudo make install

• Get the code and change CMakeLists.txt of bsline_opt

cd ~/catkin_ws/src
  git clone https://github.com/HKUST-Aerial-Robotics/FUEL.git
  cd FUEL/fuelplanner/bsplineopt
  wget -O CMakeLists.txt https://raw.githubusercontent.com/engcang/exploration-algorithms/main/fuel/CMakeLists.txt

• Change compiler into c++14 in all CMakeLists.txt files

#set(CMAKECXXFLAGS "-std=c++11")
  set(CMAKECXXFLAGS "-std=c++14")

• Fix the code error

++
    // Add
    return idx;

• Build the code

cd ~/catkin_ws
  catkin build -DCMAKEBUILDTYPE=Release

• Install dependencies and get the code

sudo apt install ros-melodic-octomap-ros libgoogle-glog-dev libgflags-dev
cd ~/catkin_ws/src   git clone https://github.com/HongbiaoZ/dsv_planner.git   cd dsv_planner   git checkout origin/melodic

• Fix CMakeLists.txt in dsvplanner/src/volumetricmapping/octomap_world

#targetlinklibraries(octomapmanager ${PROJECTNAME} glog)   targetlinklibraries(octomapmanager ${PROJECTNAME} glog gflags)

• Fix CMakeLists.txt in dsv_planner/src/dsvplanner/dsvplanner

find_package(catkin REQUIRED COMPONENTS     roscpp     geometry_msgs     visualization_msgs     message_generation     octomap_world     tf     kdtree     std_msgs     nav_msgs     misc_utils     graph_planner #ADDED     graph_utils   )

• Change the path of Eigen in

++     //#include <eigen3/Eigen/Dense>     #include <Eigen/Dense>

• Build the code

cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

• Get and build the code

cd ~/catkin_ws/src
  git clone https://github.com/caochao39/tare_planner.git
  cd ..
sudo apt remove libflags* ### as it is using OR-Tools
catkin build -DCMAKEBUILDTYPE=Release

• Get dependencies

sudo apt-get install python-wstool python-catkin-tools
  sudo apt-get install ros-melodic-cmake-modules ros-melodic-control-toolbox ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink ros-melodic-geographic-msgs autoconf libyaml-cpp-dev protobuf-compiler libgoogle-glog-dev liblapacke-dev libgeographic-dev
cd ~/catkin_ws/src   git clone https://github.com/ethz-asl/mavactive3d_planning   wstool init   wstool merge mavactive3dplanning/mavactive3dplanning_https.rosinstall   wstool update
rm -r rotors_simulator # install it as above Section 1-2.   rm -r yamlcppcatkin # prevent confliction
cd ..   catkin build -DCMAKEBUILDTYPE=Release

• Important: Put <plugin name="rosinterfaceplugin" filename="librotorsgazeborosinterfaceplugin.so"/> into Gazebo .world file
• Run the demo

roslaunch interfacenbvprotors flat_exploration.launch

• Run the demo

roslaunch gbplanner rmf_sim.launch
  or
  roslaunch gbplanner smb_sim.launch

• Check mapconfigfile, if it is octomap or voxblox

<arg name="mapconfigfile" default="$(arg octomapconfigfile)"/>
  <arg name="mapconfigfile" default="$(arg voxbloxconfigfile)"/>

• Run the demo

roslaunch gbplanner gbplanner_sim.launch
  rosservice call /plannercontrolinterface/stdsrvs/automaticplanning "{}"

• Check mapconfigfile, if it is octomap or voxblox

<arg name="mapconfigfile" default="$(arg octomapconfigfile)"/>
  <arg name="mapconfigfile" default="$(arg voxbloxconfigfile)"/>

• Run the demo

roslaunch mbplanner mbplannerm100sim.launch
  rosservice call /plannercontrolinterface/stdsrvs/automaticplanning "{}"

• Get config files and Gazebo models and build

git clone https://github.com/engcang/exploration-algorithms --recursive
  mv exploration-algorithms/aep/oustergazeboplugins ~/catkin_ws/src/
  mv exploration-algorithms/aep/gazeboenv ~/catkinws/src/
  mv exploration-algorithms/aep/rplexploraiton ~/catkinws/src/aeplanner/
cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

• Set Gazebo paths

cd ~/catkinws/src/gazeboenv/gazebo_maps/reconstruction   tar -xf recon3.tar.xz

gedit ~/.bashrc
!Then, edit GAZEBOPLUGINPATH and GAZEBOMODELPATH!
export GAZEBOPLUGINPATH=:/home/$(whoami)/PX4-Autopilot/build/px4sitldefault/buildgazebo:$GAZEBOPLUGIN_PATH   export GAZEBOMODELPATH=/home/$(whoami)/catkinws/src/gazeboenv/dronemodels:/home/$(whoami)/catkinws/src/gazeboenv/gazebomaps/reconstruction:/home/$(whoami)/PX4-Autopilot/Tools/sitlgazebo/models:$GAZEBOMODEL_PATH

• Run the demo

roslaunch rplexploration px4sitl_gazebo.launch   # choose sensor   roslaunch rplexploration rplexploration.launch sensor:=lidar   roslaunch rplexploration rplexploration.launch sensor:=rgbd   # arming & offboarding   rosservice call /mavros/cmd/arming "value: true"   rosservice call /mavros/setmode "basemode: 0 custom_mode: 'OFFBOARD'"

• Run the demo

roslaunch exploration_manager rviz.launch
  roslaunch exploration_manager exploration.launch

• Start with 2D Nav Goal in Rviz

• Run the demo

roslaunch vehiclesimulator systemgarage.launch
  roslaunch dsvplaunch exploregarage.launch

• Run the demo

roslaunch vehiclesimulator systemgarage.launch
  roslaunch tareplanner exploregarage.launch

• Trouble shooting

ldd tare_planner/or-tools/lib/ldd libortool.so
! wrong output       libgflags.so.2.2 => sota_ws/devel/lib/libgflags.so.2.2 (0x00007f036830d000)       libglog.so.0 => sota_ws/devel/lib/libglog.so.0 (0x00007f03680dc000)
! after delete/rename wrong files       sudo ldconfig       ldd tare_planner/or-tools/lib/ldd libortool.so                      ! correct output       libgflags.so.2.2 => tareplanner/src/tareplanner/or-tools/lib/./libgflags.so.2.2 (0x00007fe6749e0000)       libglog.so.0 => tareplanner/src/tareplanner/or-tools/lib/./libglog.so.0 (0x00007fe6747a3000)

• Get modified files for running without Unreal but Gazebo instead

git clone https://github.com/engcang/exploration-algorithms --recursive
  cd exploration-algorithms/oipp
  mv active3dplanningappreconstruction ~/catkinws/src/mavactive3dplanning/
  mv active3dplanningcore ~/catkinws/src/mavactive3d_planning/
cd ~/catkin_ws   catkin build -DCMAKEBUILDTYPE=Release

• Run demo

roslaunch active3dplanningappreconstruction nounrealrun_experiment.launch   rosservice call /planner/plannernode/togglerunning "data: true"