{"id":28761054,"url":"https://github.com/kumarrobotics/jackal-infrastructure","last_synced_at":"2026-01-31T12:33:21.586Z","repository":{"id":298189844,"uuid":"999163395","full_name":"KumarRobotics/jackal-infrastructure","owner":"KumarRobotics","description":null,"archived":false,"fork":false,"pushed_at":"2025-06-09T21:03:47.000Z","size":11,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-06-09T22:19:47.406Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-06-09T20:48:38.000Z","updated_at":"2025-06-09T21:03:51.000Z","dependencies_parsed_at":"2025-06-09T22:19:49.833Z","dependency_job_id":"328c8f80-482a-443e-93db-a1a47768f3e6","html_url":"https://github.com/KumarRobotics/jackal-infrastructure","commit_stats":null,"previous_names":["kumarrobotics/jackal-infrastructure"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/KumarRobotics/jackal-infrastructure","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fjackal-infrastructure","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fjackal-infrastructure/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fjackal-infrastructure/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fjackal-infrastructure/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/jackal-infrastructure/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fjackal-infrastructure/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260308494,"owners_count":22989814,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-17T06:39:36.765Z","updated_at":"2026-01-31T12:33:16.567Z","avatar_url":"https://github.com/KumarRobotics.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Infrastructure for running mapping and planning on jackal\n\n# Building \n\n## Step 1\nDockerfile assumes the following structure in the `./data` folder\n\n```sh\ntree ./data\ndata/\n├── groundingdino_swint_ogc.pth\n├── GroundingDINO_SwinT_OGC.py\n└── huggingface\n    └── hub\n        ├── models--bert-base-uncasee\n        |   | \u003chuggingface llava model\u003e\n        ├── models--llava-hf--vip-llava-7b-hf\n        |   | \u003chuggingface llava model\u003e\n        └── version.txt\n```\n\nThe Grounding Dino and Bert models can be found in this github [release](https://github.com/ZacRavichandran/open-vocab-vision-ros/releases/tag/data_v1). The Llava model is too large to host there. If you don't have a local version you can copy over, the model will be downloaded at runtime. If you need to do that, I reccomend saving the model to host, and then rebuilding the docker file, as downloading Llava can take a long time. \n\n## Step 2\nTo build the image, you'll need access to the following repos. They will be cloned during the build.\n\n### existing repos\n- [GrondingDino](https://github.com/ZacRavichandran/GroundingDino)\n- [jackal](https://github.com/ZacRavichandran/jackal)\n- [groundgrid](https://github.com/ZacRavichandran/groundgrid)\n\n### custom \n- [jackal-infrastructure](https://github.com/ZacRavichandran/jackal-infrastructure)\n- [llm-planning](https://github.com/ZacRavichandran/llm-planning)\n- [open-vocab-vision-ros](https://github.com/ZacRavichandran/open-vocab-vision-ros)\n\n\n## Step 3 \nThe build script assumes a github key (currently `id_github`), change this for your needs\n\nThe build the image\n```sh\nsh build.sh\n```\n\n# Running\n\n## Launching \n\nThe following will run the autonomy stack on the jackal\n\n1. Jackal autonomy\n```sh\nroslaunch infrastructure_jackal jackal_autonomy.launch\n```\n\n2. vision\n```sh\nroslaunch open_vocab_vision_ros vison.launch\n```\n\n3. planning \n```sh\nroslaunch llm_planning_ros planner.launch\n```\n\n[`planner.launch`]() doesn't not load a prior map. Replace with your needs. \n\n*Warning* This records a lot of data. \n\n4. [optional] recording\n```sh\nrosrun infrastructure_jackal record_jackal_data.sh\n```\n\n## \n```\nrossservice call /llm_planning_ros/task \"task: 'YOUR TASK'\" \n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fjackal-infrastructure","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkumarrobotics%2Fjackal-infrastructure","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fjackal-infrastructure/lists"}