Fejemis ROS: Difference between revisions
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== ROS install == | 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 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 === | === Calibration of RealSense === | ||
For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md | 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 == | == IMU and robot-localization == | ||
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== RTAB-Map == | == 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 === | === Info about dual camera setup === | ||
===== Install Git version of RTAB-map ===== | |||
If you need both camera for SLAM the normal install will not work. | If you need both camera for SLAM the normal install will not work. | ||
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<code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code> | <code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code> | ||
==== Get the serial numbers for the cameras ==== | ===== Get the serial numbers for the cameras ===== | ||
<code>rs-enumerate-devices | grep 'Serial Number'</code> | <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/) | [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/) | ||
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)
