GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection

This work aims to provide UAV flight in an unknown 3D environment for infrastructure inspection. This work is presented at this arXiv location.

How to Install

Add information on how to install everything to get it to work.

Run Instructions

First download rosbag(simulation_v1.bag) from here

git checkout perception_v1
catkin_make
rosbag play <path to rosbag> -r 0.1
roslaunch pcl_filter cloud_pub.launch

Package setups

1. ORB-SLAMV2 Setup | Original Repo
2. LOAM-SLAM Setup | Original Repo

SLAM/Mapping package	RGBD	Stereo	Lidar	Fusion available
ORB-SLAMV2	yes	yes	no	unknown
Laser Odometry and Mapping (Loam)	No	No	Yes	Yes(with IMU)

Datasets

Dataset	Comments	RGBD?	Stereo?	Lidar?	IMU	T265	Location	Best Mapping	Snapshots/sample
wysor_1.bag	Wysor bridge pass	yes	yes	no	yes		Google Drive	LOAM
t265p3.bag	Looping data around lab	no	no	yes	yes	yes	Google Drive	LOAM (fused with IMU)
labarea.bag	Data about lab's walls	no	no	yes	yes	no	Google Drive	LOAM & Open mapping
iribepart1.bag	Iribe ground floor mapping	no	no	yes	yes	no	Google Drive	LOAM

Running all code

To launch an environment launch the following line of code:

roslaunch hector_moveit_gazebo final_bridge.launch

Add this python code in if you want to use the neural net for segmentation. Location ~/catkin_ws/src/3D_bridge_meshes:

python3 image_server.py
python get_image.py
python pub_images.py

Location ~/catkin_ws/src/simulation_model:

python3 run_show_results__.py

To launch filters for LiDAR and RGB camera: (Note: had to split octomap_server_velo and octomap_server_trimmed)

roslaunch pcl_filter cloud_pub.launch
rosrun octomap_server octomap_server_node _resolution:=1 _frame_id:="world" _sensor_model/max_range:=40 cloud_in:=transformed_cloud_image_frame
rosrun octomap_server zFilter

To launch low-level controller: Either autonomous flight can be done using

roslaunch hector_moveit_navigation navigate.launch

or if you want to do manual flight

rosservice call /enable_motors true
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

To run GTSP solver:

rosrun gtsp gtsp_solver

To run visited points publisher:

rosrun octomap_server visitedPoints_Publisher

To run baseline for GATSBI algorithm:

rosrun octomap_server baseline
roslaunch hector_moveit_frontier_exploration frontier_explore.launch

To run GATSBI algorithm:

rosrun octomap_server kevin

To plot path of UAV:

rosrun hector_trajectory_server hector_trajectory_server