MultiAgentMapping

Installation

Clone the Repository

cd ros2_ws/src
git clone https://github.com/REGATTE/MultiAgentMapping.git --recursive

Install LIO-SAM Dependencies

LIO_SAM code has been modified and added to the main package.

1. Install required dependencies:

sudo apt install ros-<ros2-version>-perception-pcl \
   ros-<ros2-version>-pcl-msgs \
   ros-<ros2-version>-vision-opencv \
   ros-<ros2-version>-xacro

Replace <ros2-version> with your ROS 2 distribution (e.g., humble or foxy).

2. Ensure Eigen version 3.4.0 is installed.

3. Install GTSAM:

sudo add-apt-repository ppa:borglab/gtsam-release-4.2
sudo apt install libgtsam-dev libgtsam-unstable-dev

Build the Workspace

cd ros2_ws
colcon build --symlink-install

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Extension Setup

Install Isaac Sim Extension

1. Open Isaac Sim.
2. Go to Window > Extensions.
3. Click on the three stripes menu in the top-right corner and select Settings.
4. In the settings panel, click the green (+) button and add the absolute path to the isaacsim_extension/exts directory.
5. The extension should now be loaded.

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Running the Project

Launch Isaac Sim and Load Robots

1. Start Isaac Sim using your preferred method.
2. Activate the extension.
3. Choose the environment and robot setup: scout_1_1, scout_2_2, scout_3_3, or scout_4_4.

Run LIO-SAM

1. Set the ROS 2 domain ID for the desired robot:

export ROS_DOMAIN_ID=x

Replace x with the robot's ID number. For example, for scout_1_1, use:

export ROS_DOMAIN_ID=1

Run this in every terminal window related to the robot

2. Launch PointCloud2 Updater to include rings in the msg data

ros2 launch pcl_ring_publisher ring_publisher.launch.py robot_namespace:=scout_x_x

3. Launch LIO-SAM with the corresponding configuration file:

ros2 launch lio_sam run.launch.py params_file:=/path/to/Config/LIO_SAM/scout_1_1.yaml

Replace the path with the actual path to your YAML configuration file.

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Notes

• Ensure all robots have distinct ROS domain IDs to avoid conflicts during multi-robot operation.
• Verify parameter file paths and configurations for each robot before launching.
• Isaac Sim must be running and properly connected to ROS 2 for simulations to work correctly.

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References

• LIO_SAM
• DCL_SLAM
• LiDAR IRIS for LoopClosure
• Distributed Mapper
• libnabo