smely-zajko-ros

Installation

First clone this repository

$ git clone https://github.com/Robotics-DAI-FMFI-UK/smely-zajko-ros

OpenCV

$ sudo apt-get install libopencv-dev

putty-tools (plink)

$ sudo apt-get install putty-tools

Do not forget to add user to group dialout.

$ sudo usermod -a -G dialout <userName>

ROS Kinetic

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
$ sudo rosdep init
$ rosdep update

For more information follow ROS Kinetic installation manual.

RapidXML

$ sudo apt install librapidxml-dev

Setting up CLion

$ source devel/setup.bash && sh clion.sh &

Make sure your PROJECT_DIR is in src folder (without it, you will not be able to autocomplete)! You can check it in .idea/misc.xml.

Building

From root folder run $ catkin_make. Make sure you run source devel/setup.bash before.

Running

From root folder on PC run $ ./startme. This launches the ros master

From root folder on Jetson run $ ./jetson_camera_start. Camera node will start and connect to the master

Record run via rosbag

We can record whole run and play it again (with correct timing, data, etc.) via rosbag. To record all nodes (not recommended) in run use

$ rosbag record -a

but preferable way is to record only sensors with

$ rosbag record /sensors_publishers/camera/image /sensors_publishers/gps_publisher /sensors_publishers/houyo_publisher /sensors_publishers/gps_publisher /sensors_publishers/imu_publisher /sensors_publishers/sbot_publisher

and for play

$ rosbag play filename.bag

*.bag files can be quite big, so use rosbag to compress and decompress files

$ rosbag compress *.bag
$ rosbag decompress *.bag

For more information check documentation.