DYNUS Lite

This is an optimized, lighter version of the navigation framework DYNUS.

System requirements

• OS: Ubuntu 22.04 LTS
• ROS: ROS 2 Humble
• Environment: Gazebo 11.10.2
• Optimizer: Gurobi Optimizer (WSL licence, will modify the setup procedure to set it up automatically).

Native installation

Cloning

mkdir -p ~/code
cd ~/code
git clone https://github.com/idra-lab/dynus_lite.git

Run setup.sh file

cd dynus_lite
chmod +x setup.sh
./setup.sh

Running the simulation

source /opt/ros/humble/setup.bash
source /usr/share/gazebo/setup.sh
source ~/code/dynus_lite/dynus_lite_ws/install/setup.bash
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/code/dynus_lite/dynus_lite_ws/install/ros2_livox_simulation/lib:~/code/dynus_lite/dynus_lite_ws/install/realsense_gazebo_plugin/lib
export ROS_DOMAIN_ID=7
cd ~/code/dynus_lite/dynus_lite_ws/src/dynus/launch/
python3 run_single_sim.py --env easy_forest

An rviz page will open and the simulation will start in 15-20 seconds. As it starts, it is possible to notice the point cloud populating and the first obstacles are becoming visible.

To move the drone hit 'G' and click a point around the drone.