GATSBI folder contains GATSBI Algorithm AirSim_MoveIt folder contains the AirSim and MoveIt integrated ROS package DJI_MoveIt folder contains the DJI SDK and MoveIt integrated ROS package
Required Simulation Packages
- AirSim
- MoveIt
- GTSP Solver
Start AirSim in Unreal Engine environment
Run AirSim ROS Wrapper in 1st terminal
roslaunch airsim_ros_pkgs airsim_node.launch
Launch OctoMap GATSBI launch file in 2nd terminal. This runs the following:
- Envrionment Octomap
- Bridge Segmented Octomap
- Ground Filter
- Visited Points Tracker
roslaunch octomap_server octo_gatsbi.launch
Run GTSP solver in 3rd terminal
rosrun gtsp gtsp_solver
Launch MoveIt configuration in 4th terminal
roslaunch airsim_moveit_config gatsbi.launch
Run AirSim + MoveIt Client in 5th terminal
rosrun airsim_moveit_navigation airsim_navigator
Run GATSBI
rosrun octomap_server airsim_MODGATSBI