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cadre_demo

README.md

NASA Space ROS Sim Summer Sprint Challenge

CADRE Image Credits: https://www.freelancer.com/contest/NASA-Space-ROS-Sim-Summer-Sprint-Challenge-2417552/details

Team Lead Freelancer Username: SanjayJP02

Submission Title: CADRE Demo: Cooperative Autonomous Distributed Robotic Exploration

CADRE

Package Description and Purpose

  • This package simulates NASA’s CADRE mission, which focuses on mapping the Moon through a trio of autonomous rovers. The simulation is developed using ROS 2 and is part of NASA's lunar exploration initiative for Spring 2026.

    CADRE Image Credits: https://www.jpl.nasa.gov/missions/cadre

The package consists of the following:

  • Lunar Landscape Design:
  1. Created a realistic lunar environment using Blender, based on publicly available lunar images from NASA’s gallery (https://science.nasa.gov/gallery/moon-images/).
  2. Configured world parameters such as gravity, atmosphere, and pressure using data from NASA’s planetary factsheet for gazebo (https://nssdc.gsfc.nasa.gov/planetary/factsheet/moonfact.html).

CADRE

  • CAD Model Development:

  1. Constructed the CAD model of the CADRE rover from scratch using images and information from NASA JPL’s website (https://www.jpl.nasa.gov/missions/cadre).

  2. Implemented the model in SolidWorks and converted it to URDF format for use with ROS2 Humble.

    CADRE

  • Simulation and Integration:

  1. Integrated rover controls, IMU, LRF, and RGBD sensors for lunar mapping within the simulation.

  2. Developed Python code to utilize point cloud data for mapping in relation to the Lander.

    CADRE

  • Teleoperation and Control:

  1. Created a Python GUI for teleoperation control of individual rovers, including camera visualization.

  2. Set up ROS2 launch files to facilitate spawning multiple rovers as needed.

    CADRE

  • Cross-Platform Compatibility:
  1. Tested the simulation on Windows Subsystem for Linux (WSL) and VMware Linux, ensuring compatibility for developers who wish to avoid dual boot or having access to a Linux environment.
  • Open-sourced :
  1. Open-sourced SolidWorks CAD files and Blender files for additional changes. (https://github.com/Sanjay-j-p/demos/tree/main/CADRE_demo/CAD_and_Blender_files)

Future Work:

  • Implementing reinforcement learning for coordinated mapping and exploration in Gazebo.

Definition and description of the public API

The CADRE rover topics:

  • /clicked_point
  • /clock
  • /goal_pose
  • /initialpose
  • /parameter_events
  • /performance_metrics
  • /robot_1/cmd_vel
  • /robot_1/joint_states
  • /robot_1/odom
  • /robot_1/robot_1_camera/camera_info
  • /robot_1/robot_1_camera/depth/camera_info
  • /robot_1/robot_1_camera/depth/image_raw
  • /robot_1/robot_1_camera/depth/image_raw/compressed
  • /robot_1/robot_1_camera/depth/image_raw/compressedDepth
  • /robot_1/robot_1_camera/depth/image_raw/theora
  • /robot_1/robot_1_camera/image_raw
  • /robot_1/robot_1_camera/image_raw/compressed
  • /robot_1/robot_1_camera/image_raw/compressedDepth
  • /robot_1/robot_1_camera/image_raw/theora
  • /robot_1/robot_1_camera/points
  • /robot_1_front/scan
  • /robot_1_imu/data
  • /robot_1_robot_description
  • /robot_2/cmd_vel
  • /robot_2/joint_states
  • /robot_2/odom
  • /robot_2/robot_2_camera/camera_info
  • /robot_2/robot_2_camera/depth/camera_info
  • /robot_2/robot_2_camera/depth/image_raw
  • /robot_2/robot_2_camera/depth/image_raw/compressed
  • /robot_2/robot_2_camera/depth/image_raw/compressedDepth
  • /robot_2/robot_2_camera/depth/image_raw/theora
  • /robot_2/robot_2_camera/image_raw
  • /robot_2/robot_2_camera/image_raw/compressed
  • /robot_2/robot_2_camera/image_raw/compressedDepth
  • /robot_2/robot_2_camera/image_raw/theora
  • /robot_2/robot_2_camera/points
  • /robot_2_front/scan
  • /robot_2_imu/data
  • /robot_2_robot_description
  • /robot_3/cmd_vel
  • /robot_3/joint_states
  • /robot_3/odom
  • /robot_3/robot_3_camera/camera_info
  • /robot_3/robot_3_camera/depth/camera_info
  • /robot_3/robot_3_camera/depth/image_raw
  • /robot_3/robot_3_camera/depth/image_raw/compressed
  • /robot_3/robot_3_camera/depth/image_raw/compressedDepth
  • /robot_3/robot_3_camera/depth/image_raw/theora
  • /robot_3/robot_3_camera/image_raw
  • /robot_3/robot_3_camera/image_raw/compressed
  • /robot_3/robot_3_camera/image_raw/compressedDepth
  • /robot_3/robot_3_camera/image_raw/theora
  • /robot_3/robot_3_camera/points
  • /robot_3_front/scan
  • /robot_3_imu/data
  • /robot_3_robot_description
  • /rosout
  • /tf
  • /tf_static

More Rovers can be added by using the following modification main.launch.xml:

'#' - numbers

Spawn coordinates[ x_,y_z_,roll_,pitch_yaw_]- location of the new rover

<include file="$(find-pkg-share robot_gazebo)/launch/spawn_with_control.launch.xml">
    <arg name="robot_name" value="robot_#"/>
    <arg name="robot_file" value="robot.xacro"/>
    <arg name="x_spawn" value="0.0"/>
    <arg name="y_spawn" value="0.0"/>
    <arg name="z_spawn" value="0.0"/>
    <arg name="roll_spawn" value="0.0"/>
    <arg name="pitch_spawn" value="0.0"/>
    <arg name="yaw_spawn" value="0.0"/>
</include>

How to build and install

Follow these passages to build the docker image and start a docker container.

  1. Clone this repository, Go inside the directory to demos\CADRE_demo

  2. Run the build script

chmod +x build.sh
./build.sh
  1. Start the container by executing
docker run -it --entrypoint /bin/bash openrobotics/cadre_demo
  1. (optional) Additional terminals can be opened by executing
chmod +x open_cmd.sh
./open_cmd.sh

  1. PLEASE MOVE THE MODELS [ Lunar and Luanr_lander ] to .gazebo/models in Home (https://github.com/Sanjay-j-p/simulation/tree/main/models)

  2. Please modify the locations in the robot.xacro for stl files. Rviz2 as Bug for not detecing Find package xml so i had to use hard location. current"file:///home/ros2/multi_space_ros/src/robot_description/meshes/ .stl" ( https://github.com/Sanjay-j-p/demos/blob/main/CADRE_demo/robot_description/robot/robot.xacro)

# CADRE simulation launch and run.

  1. Source your ROS2 distribution.
source /opt/ros/${ROS_DISTRO}/setup.bash
  1. Build Your Workspace ex: CADRE_demo
cd ..
cd CADRE_demo/
colcon build --symlink-install
  1. Source your workspace.
source install/setup.bash
  1. Run the launch file.
ros2 launch robot_gazebo main.launch.xml

With this, will start the gazebo simulator and Rviz with the three CADRE rovers in the Lunar world.

CADRE GUI teleopration.

In another terminal,

  1. Excutable Premmsion for python files.
    chmod +x joy.py
    chmod +x mapping.py
  1. Run
ros2 run robot_control joy.py

This will start GUI control for controlling individual Rovers.

CADRE point clouds [ Added only for one rover due to Hardware limit ].

In another terminal, run

ros2 run robot_control mapping.py

This will start the point cloud node and publishes tranformed depth topic.

License

Apache License 2.0