Fejemis ROS: Difference between revisions

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Back to [[fejemis]]
== 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.


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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.
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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]


[https://github.com/IntelRealSense/realsense-ros Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>]
Install both ''realsense2_camera'' and ''realsense2_description''


For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer]
=== 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.
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<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>
<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>


For RtabMap
== 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

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.

An installing guide can be found here: ROS Noetic installation instructions

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.

On Ubuntu apt-get can be used via this guide: Installing on Ubuntu with apt-get

Intel RealSense

The installation also uses Intel RealSense and can be installed via this guide. Instructions

Install both realsense2_camera and realsense2_description

Calibration of RealSense

For calibration on linux install this: Installation Instructions for librealsense2-dkms and librealsense2-utils

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

Rviz Add-on (visualization)

For the Rviz visualization when using Intel RealSense install this.

sudo apt-get install ros-noetic-octomap-rviz-plugins

RTAB-Map

Standard install

sudo apt install ros-noetic-rtabmap-ros

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.

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

Get the serial numbers for the cameras

rs-enumerate-devices | grep 'Serial Number'

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)