# go1_navigation

**Repository Path**: northpoleforce/go1_navigation

## Basic Information

- **Project Name**: go1_navigation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-12-10
- **Last Updated**: 2025-01-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# agdr_loco_nav
Autonomous navigation for GO1 using MID360 or Unitree L1 3D lidar
# Installation and Setup Guide
## install pcl-1.11 (dependence) directly
```bash
git clone https://gitee.com/qi-zezhong/pcl1.14.1.git
cd pcl1.14.1/
git checkout pcl-1.11.1
mkdir build && cd build
cmake .. \
    -DCMAKE_INSTALL_PREFIX=/opt/pcl \
    -DBUILD_SHARED_LIBS=ON \
    -DPCL_VERSION=1.11 \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_TESTS=OFF
make -j$(( $(nproc) - 4 ))
sudo make install
```
## Install Dependencies
```bash
# Camera dependencies
sudo apt install ros-melodic-usb-cam
sudo apt install ros-melodic-image-view
sudo apt-get install ros-melodic-image-transport-plugins

# Additional dependencies
sudo apt install ros-melodic-pcl-conversions libeigen3-dev
sudo apt-get install ros-melodic-eigen-conversions
sudo apt install ros-melodic-move-base*
sudo apt install ros-melodic-rviz*
```

## Bind Camera
1. Run the following command to check the `idVendor` value of your device:
   ```bash
   udevadm info --name=/dev/video0 --attribute-walk
   ```

2. Use the following format to create a symbolic link `/dev/mycamera` for a specific camera. This ensures that the camera can always be accessed via `/dev/mycamera`, regardless of other conditions.

3. Edit the rules file:
   ```bash
   sudo nano /etc/udev/rules.d/99-usb-camera.rules
   ```

4. Add the following lines to define symbolic links for specific cameras:
   ```bash
   SUBSYSTEM=="video4linux", ATTR{name}=="HIK 2K Camera", KERNEL=="video[0-9]*", SYMLINK+="mycamera"

   SUBSYSTEM=="video4linux", ATTR{name}=="GENERAL WEBCAM", KERNEL=="video[0-9]*", SYMLINK+="mycamera"
   ```

## Build the Code
Use the provided script to compile the code:
```bash
./scripts/build.bash
```
build Livox-SDK2
```bash
cd include/Livox-SDK2/
mkdir build
cd build
cmake ..
make -j4
sudo make install
```
## build livox_ros_driver2
ignore that depend this driver to avoid error
```
cd src/Point-LIO/
touch CATKIN_IGNORE
cd ../small_gicp_relocalization/
touch CATKIN_IGNORE
```
then build driver by this script
```
cd src/livox_ros_driver2/
./build.sh ROS1
```
## build small_gicp
install cmake-3.16 firstly
```bash
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -
sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
sudo apt-get update
sudo apt-get install cmake=3.25.2-0kitware1ubuntu18.04.1
cmake --version
# must >=3.16
```
then
```bash
cd include/small_gicp/
sudo apt-get install libeigen3-dev libomp-dev
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release && make -j2
sudo make install
```
## build the whole project
remove the CATKIN_IGNORE above
```bash
cd ../Point-LIO/
rm CATKIN_IGNORE
cd ../small_gicp_relocalization/
rm CATKIN_IGNORE
cd ../..
catkin_make -j2
```
# usage

## Mapping the Global Environment
To begin, you need to create a map of the global environment. Run the `real_mapping_mid360_rviz.launch` file to start the mapping process. Once the mapping is complete, execute the following command in a new terminal to save the generated point cloud map as a PCD file: 
```bash
rostopic pub /save_pcd std_msgs/Bool "data: true" -1
```
## Point Relocalization
The `small_gicp_relocalization` module requires the robot to be placed in a pose similar to its initial position during the mapping process for it to work effectively.
## Reference Map Generation
For generating reference maps, refer to the `src/pcd2pgm` package for detailed instructions and tools.
## Navigation
The navigation package is located at `src/go1_navigation`. Inside the launch directory, you will find various launch files for debugging and real-world deployment. Feel free to explore and use them as needed.
The main navigation launch file is `real_navigation.launch`.

# TODO: cross-compile
<del>
### powerful pc
depeends
``` bash
sudo apt install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
sudo apt install libboost-all-dev libeigen3-dev libflann-dev libvtk7-dev libqhull-dev
# 下载或准备用于 aarch64 的库版本，将它们复制到指定的交叉编译路径中，例如 /opt/aarch64-libs
```
create a cmake
```bash
cd pcl
touch toolchain-aarch64.cmake
```
input below:
``` cmake
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR aarch64)

# Cross compiler tools
set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
set(CMAKE_LINKER /usr/bin/aarch64-linux-gnu-ld)
set(CMAKE_AR /usr/bin/aarch64-linux-gnu-ar)

# Path to target libraries
set(CMAKE_FIND_ROOT_PATH /opt/aarch64-libs)

# Search for programs in the host system
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# Search for libraries and headers in the target system
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
```

set configure
``` bash
export INSTALL_PREFIX="/opt/pcl"
export PCL_DIR="$INSTALL_PREFIX/share/pcl-1.11"
export PCL_LIBRARY_DIRS="$INSTALL_PREFIX/lib"
```

compile
``` bash
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../toolchain-aarch64.cmake \
      -DCMAKE_INSTALL_PREFIX=${INSTALL_PREFIX} \
      -DBUILD_SHARED_LIBS=ON \
      -DBUILD_tools=OFF \
      -DBUILD_examples=OFF \
      ..
make -j
make install DESTDIR=$(pwd)/output
```

copy to nx
``` bash
scp -r output/opt/pcl/ username@jetson-xavier:/opt/pcl
```
</del>