Meta-Vision-SolaisNG

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Meta-Vision-SolaisNG is a complete rewrite of the original Meta-Vision-Solais project. It is based on ROS2 (Robot Operating System) as it is designed to be modular. Currently only the core components are implemented, the SolaisTerminal is still under development.

Note: Solais means "light" in Irish. Claíomh Solais, "Sword of Light" or "Shining Sword," is a weapon that appears in Irish and Scottish Gaelic folktales, reputedly as an Undefeatable Sword such that once unsheathed, no one could escape its blows.

Also, we Vision group mainly deal with lights in the images :)

TOC

• Meta-Vision-SolaisNG
• TOC
• Dependencies
• Setup on Jetson Orin Nano (Ubuntu 20.04)
• Setup on macOS
• Setup on WSL (Ubuntu 22.04)
• Colcon Build System
  • Other CMake Options
• Design Idea: Complete Modularity based on ROS2

Dependencies

• CMake >= 3.25
• OpenCV 4
• Boost >= 1.71
• ZBar (for ArmorSolverUnitTest)
• CUDA >= 12.0 or 11.4
• cuDNN >= 8.x
• TensorRT >= 8.5.2 (used for YOLOv5)
• ROS Humble

Setup on Jetson Orin Nano (Ubuntu 20.04)

Please refer to this page for further information.

Setup on macOS

Note: Since no one from our team uses macOS currently, we're unable to provide detailed instructions on how to install CUDA, cuDNN and TensorRT on macOS. To our knowledge, it's no longer possible to install CUDA on macOS since CUDA 10.2.

Setup on WSL (Ubuntu 22.04)

Please refer to this page for further information.

Colcon Build System

This project uses colcon build system. It is the build system for ROS2.

Therefore, we don't need to install Qt (required by SolaisTerminal) on Jetson Nano, neither OpenCV (required by Solais Core) on the PC that only needs to run SolaisTerminal.

The two main targets are Solais Core (Solais) and Terminal (SolaisTerminal). The others are shared components, tools and unit tests.

Other CMake Options

PARAM_SET_ROOT and DATA_SET_ROOT define the directory paths of parameter sets and data sets. By default, they are both <Project Directory>/data, and therefore:

<Project Directory>/data/params: parameter files
<Project Directory>/data/params_backup: backup of parameter files on every save
<Project Directory>/data/videos: video files
<Project Directory>/data/images/<Image Set Folder>: image files

Design Idea: Complete Modularity based on ROS2