Negative Obstacle Detection

This is the base image used for negative obstacle detection at KR, for the Jackals to run ROS2-Jazzy on Ubuntu-24.04

TL;DR:

• It installs the dependencies required by many user packages (see risk-mpc/Dockerfile).
• It copies the ws main dcist workspace and builds it.
• It provides helper scripts build.bash, run.bash and join.bash

Architectures

Three architectures are provided:

• kumarrobotics/risk-mpc-bare - x86_64 CPU: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on ubuntu Docker images.
• kumarrobotics/risk-mpc-nvda - x86_64 CUDA: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on nvidia/cuda Docker images.
• kumarrobotics/risk-mpc-nvda - arm64 CUDA: To run in Nvidia Jetson platforms.

How to build and use?

git clone https://github.com/KumarRobotics/risk_mpc.git
cd risk_mpc && git submodule update --init --recursive
./build.bash risk-mpc x86_64_nvda
./run.bash risk-mpc-nvda:latest

Notes on how to start up the Jackal

To launch the base hardware (no sensors), use the following commands:

ros2 launch jackal_robot bringup.launch.py
ros2 run safety_controller safety_controller

Notes on how to start the zed and ouster

To launch the camera and LIDAR, use the following commands:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
ros2 launch ouster_ros sensor.composite.launch.py viz:=false

Notes on how to get odometry estimates

To receive odometry, use the following commands:

ros2 launch direct_lidar_inertial_odometry dlio.launch.py rviz:=false

Additional relevant launch scripts

To get static and dynamic transforms

ros2 run transforms transform_pub

To get obstacle detection

ros2 launch groundgrid ground_grid.launch.py
ros2 launch obstacle_detection obstacle_detection.launch.py

To get the trajectory planning and control framework

ros2 launch planners planners.launch.py
ros2 run mpc_controller mpc_llc