Range-aided Localization and Navigation

This repository hosts other repositories targeted towards range-aided localization and navigation. The core algorithms and methodology can be found in our paper: link

Citation

If you use this repository in your research, please use the following citation:

@misc{goudar2023rangevisualinertial,
      title={Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation}, 
      author={Abhishek Goudar and Wenda Zhao and Angela P. Schoellig},
      year={2023},
      eprint={2311.09056},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Note

Not all features of the algorithms have been merged into the main branch. We are in the process of updating the code base.

Dependencies

The main dependencies are ROS for communication and GTSAM for locaization.

1. Installation instructions for ROS can be found here: ROS Noetic instllation.

2. Install necessary dependencies.

sudo apt-get install libboost-all-dev
sudo apt-get install cmake
sudo apt-get install libyaml-cpp-dev

3. We require a slightly modified version of GTSAM:

git clone https://github.com/abhigoudar/gtsam.git -b custom_feature
cd gtsam
mkdir build
cd build
cmake ..
make check
make install

NOTE: you may have to provide root permission for the installation.

Setup ROS workspace

1. Setup a ROS workspace and clone the necessary ROS dependencies:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/utiasDSL/ra_lan.git
cd ra_lan
git submodule init && git submodule update

2. Build the code

cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=RelWDebInfo

Range-aided localization

This repository contains the core localization algorithms. Instructions on running the algorithms can be found in the corresponding repository: link

Range-aided navigation

Coming soon

Known issues

1. In some cases, after installing GTSAM, libmetis-gtsam.so might not be found during roslaunch, resulting in ra_sam node ending abruptly. This can be addressed by updating the library path:

   echo export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.bashrc
   source ~/.bashrc