A basic implementation of AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot(IROS 2020) in simulation.
Respect to AVP-SLAM project -> Tong Qin, Tongqing Chen, Yilun Chen, and Qing Su
About The Project
This project is only my implementation of the Paper, not official release , we only release our simulation codes.
Other Code will be released soon
We release our basic code structure, for the whole project, you need at least
sync part etc. avp-bev is one of the core parts of this project, The struct show in the figure:
If you are intrested in this project, you can follow the
***.h files to relize your implementation.
How to run
This project provide a gazebo world. so if you wanna test the code, you need prepare the simulation world.
This project need a gazebo environment, Usually loading the gazebo models takes long time, so we need to download the models first and put them in
mkdir -p ~/catkin_ws/src && cd catkin_ws/src git clone https://github.com/TurtleZhong/AVP-SLAM-SIM.git cd gazebo_files/ unzip my_ground_plane.zip -d ~/.gazebo/models/ cd ../ catkin init && catkin config -DCMAKE_BUILD_TYPE=Release catkin build
source devel/setup.bash roslaunch avp_gazebo single_simulated_avp.launch
sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation sudo apt-get install ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo
sudo apt-get install ros-melodic-kobuki-* cd ~/catkin_ws/src git clone https://github.com/yujinrobot/kobuki_desktop.git catkin build
Acyually If you test the code fail in your env(ubuntu 18.04), I recomend you use Ubuntu 16.04 for test and I will provide A DOCKER ENV - TODO
If everything is OK, you will get this: