Fejemis ROS
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| + | Back to [[fejemis]] | ||
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| + | == ROS2 Iron == | ||
| + | |||
| + | A new ROS2 installation is in progress. | ||
| + | |||
| + | The following packages are needed. | ||
| + | |||
| + | * ros-iron-desktop | ||
| + | * ros-iron-gazebo-dev | ||
| + | * ros-iron-xacro | ||
| + | * ros-iron-ros2-control | ||
| + | * ros-iron-ros2-controllers | ||
| + | * ros-iron-gazebo-ros2-control | ||
| + | * ros-iron-slam-toolbox | ||
| + | * ros-iron-twist-mux | ||
| + | |||
| + | sudo apt install ros-iron-desktop ros-iron-gazebo-dev ros-iron-xacro ros-iron-ros2-control ros-iron-ros2-controllers ros-iron-gazebo-ros2-control ros-iron-slam-toolbox ros-iron-twist-mux | ||
| + | |||
| + | The base repository is pt.: https://github.com/Lohmann27/fejemis_sim.git | ||
| + | |||
| + | See ROS2-iron tutorial for adding the package 'bridge' with node-name 'fejemis-bridge'. | ||
| + | |||
| + | pt. launch slam by: | ||
| + | ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/fejemis_sim/config/mapper_params_online_async.yaml use_sim_time:=true | ||
| + | |||
| + | == ROS install (depricated NB! do not trust) == | ||
The version of ROS used on Fejemis is ROS noetic. | The version of ROS used on Fejemis is ROS noetic. | ||
An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions] | An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions] | ||
| − | The version installed is the Desktop-Full Install. | + | The version installed is the ''Desktop-Full Install''. |
| + | |||
| + | === Catkin tools === | ||
Catkin build is used in the development and therefore ''catkin_tools'' need to be installed. | Catkin build is used in the development and therefore ''catkin_tools'' need to be installed. | ||
On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get] | On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get] | ||
| + | |||
| + | == Intel RealSense == | ||
The installation also uses Intel RealSense and can be installed via this guide. | The installation also uses Intel RealSense and can be installed via this guide. | ||
| + | [https://github.com/IntelRealSense/realsense-ros#method-1-the-ros-distribution Instructions] | ||
| + | Install both ''realsense2_camera'' and ''realsense2_description'' | ||
| + | |||
| + | === Calibration of RealSense === | ||
| + | |||
| + | For calibration on linux install this: | ||
| + | [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>] | ||
| + | |||
| + | == IMU and robot-localization == | ||
Also for the IMU and integration with RTAB-Map, we use ''robot_localization'' | Also for the IMU and integration with RTAB-Map, we use ''robot_localization'' | ||
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<code>sudo apt-get install ros-noetic-imu-tools</code> | <code>sudo apt-get install ros-noetic-imu-tools</code> | ||
| + | |||
| + | == Rviz Add-on (visualization) == | ||
For the Rviz visualization when using Intel RealSense install this. | For the Rviz visualization when using Intel RealSense install this. | ||
| Line 26: | Line 68: | ||
<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code> | <code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code> | ||
| − | + | == RTAB-Map == | |
| + | === Standard install === | ||
<code>sudo apt install ros-noetic-rtabmap-ros</code> | <code>sudo apt install ros-noetic-rtabmap-ros</code> | ||
| + | |||
| + | === Info about dual camera setup === | ||
| + | |||
| + | ===== Install Git version of RTAB-map ===== | ||
| + | |||
| + | If you need both camera for SLAM the normal install will not work. | ||
| + | Install from Github like this. | ||
| + | |||
| + | <code>sudo apt remove ros-$ROS_DISTRO-rtabmap-ros</code> | ||
| + | |||
| + | <code>cd ~/catkin_ws/src</code> | ||
| + | |||
| + | <code>git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git</code> | ||
| + | |||
| + | <code>cd ~/catkin_ws</code> | ||
| + | |||
| + | <code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code> | ||
| + | |||
| + | ===== Get the serial numbers for the cameras ===== | ||
| + | |||
| + | <code>rs-enumerate-devices | grep 'Serial Number'</code> | ||
| + | |||
| + | ====== More info ====== | ||
| + | [https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/) | ||
| + | |||
| + | You need to of the same cameras, as the size of the pictures should be the same. | ||
| + | |||
| + | Another way of implementing it | ||
| + | |||
| + | [https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/) | ||
| + | |||
| + | (here we just update the obstacle layer of the cost maps with camera 2) | ||
Latest revision as of 15:02, 13 November 2023
Back to fejemis
Contents |
[edit] ROS2 Iron
A new ROS2 installation is in progress.
The following packages are needed.
- ros-iron-desktop
- ros-iron-gazebo-dev
- ros-iron-xacro
- ros-iron-ros2-control
- ros-iron-ros2-controllers
- ros-iron-gazebo-ros2-control
- ros-iron-slam-toolbox
- ros-iron-twist-mux
sudo apt install ros-iron-desktop ros-iron-gazebo-dev ros-iron-xacro ros-iron-ros2-control ros-iron-ros2-controllers ros-iron-gazebo-ros2-control ros-iron-slam-toolbox ros-iron-twist-mux
The base repository is pt.: https://github.com/Lohmann27/fejemis_sim.git
See ROS2-iron tutorial for adding the package 'bridge' with node-name 'fejemis-bridge'.
pt. launch slam by:
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/fejemis_sim/config/mapper_params_online_async.yaml use_sim_time:=true
[edit] ROS install (depricated NB! do not trust)
The version of ROS used on Fejemis is ROS noetic.
An installing guide can be found here: ROS Noetic installation instructions
The version installed is the Desktop-Full Install.
[edit] Catkin tools
Catkin build is used in the development and therefore catkin_tools need to be installed.
On Ubuntu apt-get can be used via this guide: Installing on Ubuntu with apt-get
[edit] Intel RealSense
The installation also uses Intel RealSense and can be installed via this guide. Instructions
Install both realsense2_camera and realsense2_description
[edit] Calibration of RealSense
For calibration on linux install this:
Installation Instructions for librealsense2-dkms and librealsense2-utils
[edit] IMU and robot-localization
Also for the IMU and integration with RTAB-Map, we use robot_localization
Use this
sudo apt-get install ros-noetic-robot-localization
and this
sudo apt-get install ros-noetic-imu-tools
[edit] Rviz Add-on (visualization)
For the Rviz visualization when using Intel RealSense install this.
sudo apt-get install ros-noetic-octomap-rviz-plugins
[edit] RTAB-Map
[edit] Standard install
sudo apt install ros-noetic-rtabmap-ros
[edit] Info about dual camera setup
[edit] Install Git version of RTAB-map
If you need both camera for SLAM the normal install will not work. Install from Github like this.
sudo apt remove ros-$ROS_DISTRO-rtabmap-ros
cd ~/catkin_ws/src
git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git
cd ~/catkin_ws
catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON
[edit] Get the serial numbers for the cameras
rs-enumerate-devices | grep 'Serial Number'
[edit] More info
[1](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/)
You need to of the same cameras, as the size of the pictures should be the same.
Another way of implementing it
[2](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/)
(here we just update the obstacle layer of the cost maps with camera 2)
