Fejemis ROS: Difference between revisions
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== ROS install == | |||
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 Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>] | [https://github.com/IntelRealSense/realsense-ros Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>] | ||
=== Calibration of RealSense === | |||
For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer] | For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer] | ||
== 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> | ||
== RTAB-Map == | |||
<code>sudo apt install ros-noetic-rtabmap-ros</code> | <code>sudo apt install ros-noetic-rtabmap-ros</code> | ||
=== Info about dual camera setup === | |||
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> | |||
==== Install Git version of RTAB-map ==== | |||
[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) | |||
Revision as of 15:29, 23 September 2022
ROS install
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.
Installation Instructions for librealsense2-dkms and librealsense2-utils
Calibration of RealSense
For calibration on linux install this: realsense-viewer
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
sudo apt install ros-noetic-rtabmap-ros
Info about dual camera setup
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'
Install Git version of RTAB-map
[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)
