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首页 › 业界区 › 业界 ›论文复现【Switching Sampling Space of Model

论文复现【Switching Sampling Space of Model

志灿隐 4 天前
博客地址：https://www.cnblogs.com/zylyehuo/
Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation
GitHub项目链接
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部署环境


  • Ubuntu 20.04
  • ROS Noetic
  • numpy 1.20.3
  • numexpr 2.7.3
第一步：安装 osqp，osqp-eigen

ubuntu20.04 osqp，osqp-eigen和测试记录
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安装 osqp
  1. git clone https://gitee.com/juanmv/osqp.git cd osqp mkdir build cd build cmake .. sudo make install
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安装 osqp-eigen
  1. git clone https://gitee.com/juanmv/osqp-eigen.git cd osqp-eigen mkdir build cd build cmake .. sudo make install
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测试代码
  1. git clone https://gitee.com/juanmv/osqp_test.git cd osqp_test mkdir build cd build cmake .. make ./osqp_test
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第二步：下载项目源码
  1. git clone https://github.com/MizuhoAOKI/nullspace_mpc
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第三步：自动下载依赖项
  1. cd nullspace_mpc sudo make install_deps
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第四步：初始化并更新 rosdep，下载 ROS 依赖项

4.png

ROS依赖包安装问题/XXXXX:Cannot locate rosdep definition for [XXX]
  1. cd nullspace_mpc sudo rosdep init # 如果已经显示初始化，则跳过这条指令，直接执行下一条 rosdep update rosdep install -y --from-paths src --ignore-src --rosdistro noetic
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第五步：Python 安装 jsk_data ROS 包
  1. sudo apt-get update sudo apt-get install ros-noetic-jsk-data
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第六步：编译项目
  1. cd nullspace_mpc sudo rosdep init # 如果已经显示初始化，则跳过这条指令，直接执行下一条 rosdep update rosdep install -y --from-paths src --ignore-src --rosdistro noetic
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第七步：几个主要文件的修改（解决可能遇到的报错）

/home/yehuo/nullspace_mpc/Makefile

注意 C++ 编译器的版本是否和自己电脑的一致
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  1. # Usage: make [command] # --- Variables --- SHELL:=/bin/bash PROJ_NAME=nullspace_mpc VERSION=0.1.1 USER_NAME=noetic # Docker image and container naming DOCKER_IMAGE_BASE = $(PROJ_NAME):$(VERSION) CONTAINER_NAME_BASE = $(PROJ_NAME)-container # Workspace and X11 forwarding settings WORKSPACE = $(shell pwd) XSOCK = /tmp/.X11-unix XAUTH = /tmp/.docker.xauth # Phony targets to prevent conflicts with file names .PHONY: build # Build CPU image setup_docker_cpu: docker build \ --build-arg BASE_IMAGE=ubuntu:20.04 \ --build-arg ROS_PACKAGE=ros-noetic-desktop \ -t $(DOCKER_IMAGE_BASE)-cpu \ -f docker/Dockerfile_cpu . # Build GPU image setup_docker_gpu: docker build \ -t $(DOCKER_IMAGE_BASE)-gpu \ -f docker/Dockerfile_gpu . # Launch or attach to the CPU container run_docker_cpu: @CONTAINER="$(CONTAINER_NAME_BASE)-cpu"; \ if [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "running" ]; then \ echo "Attaching to running container: $$CONTAINER"; \ $(MAKE) exec_docker_cpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "exited" ]; then \ echo "Restarting and attaching to container: $$CONTAINER"; \ docker start $$CONTAINER && $(MAKE) exec_docker_cpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "created" ]; then \ echo "Starting and attaching to container: $$CONTAINER"; \ docker start $$CONTAINER && $(MAKE) exec_docker_cpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "paused" ]; then \ echo "Unpausing and attaching to container: $$CONTAINER"; \ docker unpause $$CONTAINER && $(MAKE) exec_docker_cpu; \ else \ echo "Creating and running new container: $$CONTAINER"; \ docker run -it --name $$CONTAINER \ --network host \ --privileged \ --ipc host \ --volume=$(WORKSPACE):/home/$(USER_NAME)/$(PROJ_NAME):rw \ --volume=$(XSOCK):$(XSOCK):rw \ --env="DISPLAY=$(DISPLAY)" \ --env="QT_X11_NO_MITSHM=1" \ $(DOCKER_IMAGE_BASE)-cpu \ bash; \ fi # Launch or attach to the GPU container run_docker_gpu: @CONTAINER="$(CONTAINER_NAME_BASE)-gpu"; \ if [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "running" ]; then \ echo "Attaching to running container: $$CONTAINER"; \ $(MAKE) exec_docker_gpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "exited" ]; then \ echo "Restarting and attaching to container: $$CONTAINER"; \ docker start $$CONTAINER && $(MAKE) exec_docker_gpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "created" ]; then \ echo "Starting and attaching to container: $$CONTAINER"; \ docker start $$CONTAINER && $(MAKE) exec_docker_gpu; \ elif [ "$$(docker inspect -f '{{.State.Status}}' $$CONTAINER 2>/dev/null)" = "paused" ]; then \ echo "Unpausing and attaching to container: $$CONTAINER"; \ docker unpause $$CONTAINER && $(MAKE) exec_docker_gpu; \ else \ echo "Creating and running new container: $$CONTAINER"; \ [ -e "$(XAUTH)" ] || install -m 600 /dev/null "$(XAUTH)"; \ chmod 644 "$(XAUTH)" || true; \ xauth nlist "$(DISPLAY)" | sed -e 's/^..../ffff/' | xauth -f "$(XAUTH)" nmerge - || true; \ sudo chmod 777 $(XAUTH) && \ docker run -it --name $$CONTAINER \ --cap-add=SYS_NICE \ --gpus all \ --network host \ --privileged \ --ipc host \ --shm-size=1gb \ --volume=$(WORKSPACE):/home/$(USER_NAME)/$(PROJ_NAME):rw \ --volume=$(XSOCK):$(XSOCK):rw \ --volume=$(XAUTH):$(XAUTH):rw \ --env=TERM=xterm-256color \ --env="DISPLAY=$(DISPLAY)" \ --env="XAUTHORITY=$(XAUTH)" \ --env="QT_X11_NO_MITSHM=1" \ --env="NVIDIA_VISIBLE_DEVICES=all" \ --env="NVIDIA_DRIVER_CAPABILITIES=all" \ --env="MESA_D3D12_DEFAULT_ADAPTER_NAME=NVIDIA" \ $(DOCKER_IMAGE_BASE)-gpu \ bash; \ fi # Attach to the running CPU container exec_docker_cpu: docker exec -it $(CONTAINER_NAME_BASE)-cpu bash # Attach to the running GPU container exec_docker_gpu: docker exec -it $(CONTAINER_NAME_BASE)-gpu bash # build ros packages build: @set -e; \ source /opt/ros/noetic/setup.bash; \ export CC=gcc-11 CXX=g++-11; \ ARCH=$$(dpkg-architecture -qDEB_HOST_MULTIARCH 2>/dev/null || echo x86_64-linux-gnu); \ catkin build --cmake-args \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \ -DCMAKE_SYSTEM_LIBRARY_PATH="/usr/lib/$$ARCH;/lib/$$ARCH;/usr/lib;/lib" \ -DCMAKE_CXX_FLAGS="-O2" \ -DENABLE_OSQP=ON # clean build caches clean: rm -r build devel logs .catkin_tools # install packages which are not supported by rosdep install_deps: sudo apt-get update && apt-get install -y \ git \ cmake \ build-essential \ pkg-config \ psmisc \ gcc-11 bash shell/ensure_cmake.sh 3.18.0 bash shell/install_osqp.sh bash shell/install_osqp_eigen.sh killall: ./shell/killall.sh # record rosbag (all topics) record: cd ${WORKSPACE}/rosbag; rosbag record -a # play and check rosbag ## [shell 1] make view_rosbag ## [shell 2] rosbag play rosbag/xxx.bag view_rosbag: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/rosbag_play.launch workspace:=${WORKSPACE} # gazebo_world.launch gazebo_world: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/gazebo_world.launch # gmapping.launch gmapping: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/gmapping.launch workspace:=${WORKSPACE} # navigation.launch navigation: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/navigation.launch workspace:=${WORKSPACE} # navigation with nullspace_mpc navigation_nullspace_mpc: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/navigation.launch workspace:=${WORKSPACE} local_planner:=nullspace_mpc # navigation with nullspace_mpc (lite) navigation_nullspace_mpc_lite: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ export OMT_WAIT_POLICY=PASSIVE &&\ roslaunch launch/navigation.launch workspace:=${WORKSPACE} controller_mode:=lite show_gazebo_gui:=false gazebo_headless:=true # navigation with mppi navigation_mppi: source /opt/ros/noetic/setup.bash && source ./devel/setup.bash &&\ roslaunch launch/navigation.launch workspace:=${WORKSPACE} local_planner:=mppi_h # evaluation demo with nullspace_mpc eval_demo_nullspace_mpc: source $(WORKSPACE)/devel/setup.bash &&\ mkdir -p result &&\ python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ --agenda_yaml_path $(WORKSPACE)/data/eval_demo/agenda.yaml \ --controller nullspace_mpc # evaluation demo with mppi eval_demo_mppi: source $(WORKSPACE)/devel/setup.bash &&\ mkdir -p result &&\ python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ --agenda_yaml_path $(WORKSPACE)/data/eval_demo/agenda.yaml \ --controller mppi_h # eval_demo_mppi_3d_a: # source $(WORKSPACE)/devel/setup.bash &&\ # mkdir -p result &&\ # python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ # --agenda_yaml_path $(WORKSPACE)/data/eval_demo/agenda.yaml \ # --controller mppi_3d_a # eval_demo_mppi_3d_b: # source $(WORKSPACE)/devel/setup.bash &&\ # mkdir -p result &&\ # python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ # --agenda_yaml_path $(WORKSPACE)/data/eval_demo/agenda.yaml \ # --controller mppi_3d_b eval_ten_small: source $(WORKSPACE)/devel/setup.bash &&\ mkdir -p result &&\ python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ --agenda_yaml_path $(WORKSPACE)/data/eval_ten/small/agenda_small.yaml \ eval_ten_large: source $(WORKSPACE)/devel/setup.bash &&\ mkdir -p result &&\ python3 $(WORKSPACE)/src/evaluation/mpc_nav_evaluator/scripts/run_evaluation.py \ --agenda_yaml_path $(WORKSPACE)/data/eval_ten/large/agenda_large.yaml \
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/home/yehuo/nullspace_mpc/src/control/nullspace_mpc/CMakeLists.txt
  1. cmake_minimum_required(VERSION 3.0.2) project(nullspace_mpc) # parameters option(USE_OPENMP "USE_OPENMP" ON) # ON / OFF ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS geometry_msgs visualization_msgs jsk_rviz_plugins nav_msgs roscpp tf2 tf2_geometry_msgs tf2_ros grid_map_core grid_map_ros grid_map_filters grid_map_loader grid_map_msgs grid_map_rviz_plugin grid_map_visualization qp_solver_collection mpc_eval_msgs ) # use eigen3 (matrix computation library) find_package(Eigen3 REQUIRED) # load openmp if(USE_OPENMP) find_package(OpenMP REQUIRED) if(OpenMP_FOUND) message(WARNING "OpenMP found. Activate CPU acceleration.") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") endif() if(NOT OPENMP_FOUND) message(FATAL ERROR "Unable to find OpenMP library.") endif() endif() catkin_package( ) ########### ## Build ## ########### ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} # ${OPENMP_INCLUDE_DIR} /usr/local/include ) ## Declare a C++ library add_library(nullspace_mpc_core SHARED src/nullspace_mpc_core.cpp) add_library(hqp SHARED src/hqp.cpp /home/yehuo/nullspace_mpc/src/QpSolverCollection/src/QpSolverCollection.cpp /home/yehuo/nullspace_mpc/src/QpSolverCollection/src/QpSolverOsqp.cpp) # hqp include directories target_include_directories(hqp PUBLIC /usr/local/include/osqp # OSQP include /usr/local/include /usr/local/share /home/yehuo/nullspace_mpc_ws/src/QpSolverCollection/src ) ## link openmp if(USE_OPENMP) if (OPENMP_FOUND) if (TARGET OpenMP::OpenMP_CXX) target_link_libraries(nullspace_mpc_core OpenMP::OpenMP_CXX) endif() endif() endif() # Link OSQP to hqp target_link_libraries(hqp /usr/local/lib/libosqp.so /usr/local/lib/libOsqpEigen.so ) find_library(OSQP_LIB osqp HINTS /usr/local/lib) find_library(OSQPEIGEN_LIB OsqpEigen HINTS /usr/local/lib) target_link_libraries(hqp ${OSQP_LIB} ${OSQPEIGEN_LIB} ) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide add_executable(${PROJECT_NAME}_node src/nullspace_mpc_node.cpp src/nullspace_mpc.cpp) ## Add cmake target dependencies of the executable ## same as for the library above add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} nullspace_mpc_core hqp ) ############# ## Install ## ############# ## Mark other files for installation (e.g. launch and bag files, etc.) install( DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )
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“throw”报错
  1. "/home/yehuo/nullspace_mpc/src/openni2_camera/include/openni2_camera/openni2_device.h:67:48: error: ISO C++17 does not allow dynamic exception specifications 67 | OpenNI2Device(const std::string& device_URI) throw (OpenNI2Exception); "
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直接删除或注释即可
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右值"rvalue"错误
  1. error: taking address of rvalue [-fpermissive] pos.object_id = static_cast(&(std::ostringstream() << max_id_))->str();
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QpSolverCollection 错误
  1. /usr/bin/ld: ../../devel/lib/libhqp.so: undefined reference to `QpSolverCollection::allocateQpSolver(QpSolverCollection::QpSolverType const&)&#39; /usr/bin/ld: ../../devel/lib/libhqp.so: undefined reference to `QpSolverCollection::QpCoeff::setup(int, int, int)&#39; collect2: error: ld returned 1 exit status
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加上命名空间
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论文复现SwitchingSamplingSpace

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