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== ROS install == | == ROS install == | ||
The version of ROS used on Fejemis is ROS noetic. | The version of ROS used on Fejemis is ROS noetic. |
Revision as of 15:30, 23 September 2022
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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)