https://github.com/kumarrobotics/jackal-infrastructure
https://github.com/kumarrobotics/jackal-infrastructure
Last synced: 10 days ago
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- Host: GitHub
- URL: https://github.com/kumarrobotics/jackal-infrastructure
- Owner: KumarRobotics
- Created: 2025-06-09T20:48:38.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2025-06-09T21:03:47.000Z (8 months ago)
- Last Synced: 2025-06-09T22:19:47.406Z (8 months ago)
- Language: CMake
- Size: 10.7 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Infrastructure for running mapping and planning on jackal
# Building
## Step 1
Dockerfile assumes the following structure in the `./data` folder
```sh
tree ./data
data/
├── groundingdino_swint_ogc.pth
├── GroundingDINO_SwinT_OGC.py
└── huggingface
└── hub
├── models--bert-base-uncasee
| |
├── models--llava-hf--vip-llava-7b-hf
| |
└── version.txt
```
The 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.
## Step 2
To build the image, you'll need access to the following repos. They will be cloned during the build.
### existing repos
- [GrondingDino](https://github.com/ZacRavichandran/GroundingDino)
- [jackal](https://github.com/ZacRavichandran/jackal)
- [groundgrid](https://github.com/ZacRavichandran/groundgrid)
### custom
- [jackal-infrastructure](https://github.com/ZacRavichandran/jackal-infrastructure)
- [llm-planning](https://github.com/ZacRavichandran/llm-planning)
- [open-vocab-vision-ros](https://github.com/ZacRavichandran/open-vocab-vision-ros)
## Step 3
The build script assumes a github key (currently `id_github`), change this for your needs
The build the image
```sh
sh build.sh
```
# Running
## Launching
The following will run the autonomy stack on the jackal
1. Jackal autonomy
```sh
roslaunch infrastructure_jackal jackal_autonomy.launch
```
2. vision
```sh
roslaunch open_vocab_vision_ros vison.launch
```
3. planning
```sh
roslaunch llm_planning_ros planner.launch
```
[`planner.launch`]() doesn't not load a prior map. Replace with your needs.
*Warning* This records a lot of data.
4. [optional] recording
```sh
rosrun infrastructure_jackal record_jackal_data.sh
```
##
```
rossservice call /llm_planning_ros/task "task: 'YOUR TASK'"
```