African-Robotics-Unit/WildPose_v1.1

WildPose v1.1

Hardware

XIMEA -- MQ022CG-CM

Prerequisite

• JetPack v5
• ROS2 Foxy

Setup

Jetson AGX Xavier Developer Kit

JetPack

We used a Jetson AGX Xavier Developer Kit. To set up the Jetson AGX Xavier Developer Kit, we need a host computer installed Ubuntu 20.04.

1. Download and install NVIDIA SDK Manager onto the host computer.
2. Connect the host computer and Jetson AGX Xavier Developer Kit (see this video).
3. Run NVIDIA SDK Manager and follow the instruction.

Unleash the limitation of CPU (the reference).

$ sudo nvpmodel -m 0
$ sudo /usr/bin/jetson_clocks --fan

General Settings

• Settings > Power > Blank Screen > Never

Network Configuration

On the Jetson, you can use nmcli command to change the network settings.

Set the static IP on the UCT network (reference).

$ nmcli c show
NAME                UUID                                  TYPE      DEVICE
Wired connection 1  b72f3d20-4de2-3d44-9c45-9689d79f22e4  ethernet  eth0
docker0             bcb6f95d-5cf5-483d-ac09-c312a4da8c0b  bridge    docker0
$ sudo nmcli c modify "Wired connection 1" ipv4.address [NEW_ADDRESS]/27

SSH

HOST COMPUTER

For the ssh login from your computer, you should make a pair of ssh key on the host computer.

$ ssh-keygen -t rsa

Then, copy the public key into the Jetson.

$ ssh-copy-id -i ~/.ssh/wildpose_jetsonagx.pub [user]@[ip address]

Add the jetson IP address information in ~/.ssh/config:

Host [ip address]
    HostName [ip address]
    User naoya
    IdentityFile ~/.ssh/wildpose_jetsonagx
    UseKeychain yes
    AddKeysToAgent yes

dotfiles

Set the dotfiles you wanna use (e.g., Naoya's dotfiles).

ROS2 Foxy

Let's install ROS2 Foxy following with the official guide. See setup_scripts/ros2_foxy.sh.

$ cd setup_scripts
$ ./ros2_foxy.sh

The Official Ximea Camera Driver

This is the original GitHub repository and the Guide for Jetson.

$ cd setup_scripts/
$ chmod +x ./xiapi.sh
$ ./xiapi.sh
# reopen the shell

Setup the USB FS Memory Max Allocation to Infinite

This is done to make sure that the USB FS buffering size is sufficient for high bandwidth streams through USB 3.0

Set this with every new shell: Put echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb into /etc/rc.local

Or

Apply to current shell: echo "0" | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb

ROS2 Packages

To show the ximea camera image data, you are recommended to install image_view.

$ sudo apt install -y ros-foxy-image-view \
    ros-foxy-rqt-image-view \
    ros-foxy-rqt-reconfigure \
    ros-foxy-image-transport-plugins \
    ros-foxy-camera-info-manager

XIMEA Camera Driver for ROS2

$ mkdir ~/ros2_ws
$ cd ~/ros2_ws
$ git clone git@github.com:African-Robotics-Unit/ximea_ros2_cam.git
$ cd ~/ros2_ws/ximea_ros2_cam/
$ git fetch
$ git checkout -b develop
$ sudo apt install -y ros-foxy-camera-info-manager
$ colcon build
$ colcon build --packages-select cam_bringup --symlink-install

# Test the camera driver
$ ros2 launch cam_bringup cam_test.launch.py

Then, add source ~/ros2_ws/ximea_ros2_cam/install/setup.bash into ~/.bashrc.

To avoid the error 45, you have to run the following command.

$ sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb >/dev/null <<<0

Livox-SDK

This is the original GitHub repository.

$ sudo apt install -y cmake gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
$ cd ~/Documents
$ git clone https://github.com/Livox-SDK/Livox-SDK.git
$ cd Livox-SDK

Edit Livox-SDK/sdk_core/CMakeLists.txt by adding -fPIC. Ref: Livox-SDK/livox_ros2_driver#9 (comment)

$ cd build && cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
$ make
$ sudo make install
$ source /opt/ros/foxy/setup.bash

Set the network configuration:

• IP address: 192.168.1.2
• Netmask: 255.255.255.0
• Gatway: 192.168.1.1

Livox ROS2 Driver

This is the original GitHub repository.

$ sudo apt install -y ros-foxy-rviz2
$ cd ~/ros2_ws
$ git clone https://github.com/DenDen047/livox_ros2_driver.git livox_ros2_driver/src
$ cd livox_ros2_driver
$ colcon build
$ source ~/ros2_ws/livox_ros2_driver/install/setup.bash

Add source ~/ros2_ws/livox_ros2_driver/install/setup.bash into ~/.bashrc. Don't forget to change the config file.

rmw_ecal

Update the ROS middleware for fast recording ros bag files.

Install eCAL.

$ sudo add-apt-repository ppa:ecal/ecal-latest
$ sudo apt-get update
$ sudo apt-get install -y ecal

Setup rosidl_typesupport_protobuf.

$ sudo apt-get install -y libprotobuf-dev protobuf-compiler
$ cd ~/ros2_ws
$ git clone https://github.com/eclipse-ecal/rosidl_typesupport_protobuf.git
$ cd ~/ros2_ws/rosidl_typesupport_protobuf
$ colcon build
$ vim ~/.bashrc   # add "source ~/ros2_ws/rosidl_typesupport_protobuf/install/setup.bash"
$ source ~/.bashrc

Clone latest release of this repository into your ROS2 workspace and build it.

$ cd ~/ros2_ws
$ git clone https://github.com/eclipse-ecal/rmw_ecal.git
$ cd ~/ros2_ws/rmw_ecal
$ colcon build --packages-skip rmw_ecal_proto_cpp
$ vim ~/.bashrc   # add "source ~/ros2_ws/rmw_ecal/install/setup.bash"
$ source ~/.bashrc

Add the following line into your .bashrc.

export RMW_IMPLEMENTATION=rmw_ecal_dynamic_cpp

Install Python eCAL API.

$ sudo apt install -y python3 python3-pip
$ sudo apt install -y python3-ecal5

jtop

To check the Jetson status, jtop should be installed.

$ sudo -H pip install -U jetson-stats
$ sudo reboot

Wi-Fi

You should get a connection listing similar to something like this:

$ nmcli d
DEVICE         TYPE      STATE         CONNECTION
wlan0          wifi      connected     AirPort41594
docker0        bridge    connected     docker0
p2p-dev-wlan0  wifi-p2p  disconnected  --
eth0           ethernet  unavailable   --
...

Next we will make sure that the WiFi module is turned on by typing the following command:

$ nmcli r wifi on

Now we can scan and list off all visible WiFi networks available to us by typing the following command:

$ nmcli d wifi list
IN-USE  BSSID              SSID          MODE   CHAN  RATE        SIGNAL  BARS  SECURITY
*       34:76:C5:37:A2:7A  AirPort41594  Infra  6     130 Mbit/s  87      ▂▄▆█  WPA1 WPA2
...

To connect to a given network make sure you have its SSID and password ready. Both are case sensitive! Type the following command with [SSID] being your SSID and [PASSWORD] being the password for that network:

$ nmcli d wifi connect [SSID] password [PASSWORD]

If all goes according to plan, you should get a connection confirmation!

CAN bus setting

$ sudo apt install -y busybox

Add the following code into your /etc/rc.local:

sh /home/naoya/WildPose_v1.1/wildpose/src/dji_rs3_pkg/enable_CAN.sh &

Check the status of can0:

$ ip -s -d -h link show can0

Check the CAN connection.

# AA:1A:00:03:00:00:00:00  22:11:A2:42:0E:00:20:00  30 00 40 00 01 14 7B 40  97 BE
$ cansend can0 223#AA1A000300000000 && \
    cansend can0 223#2211A2420E002000 && \
    cansend can0 223#3000400001147B40 && \
    cansend can0 223#97BE

References:

• Enabling CAN on Nvidia Jetson Xavier Developer Kit
• hmxf/can_xavier -- GitHub
• Controller Area Network (CAN) -- nVIDIA

Remote Desktop

$ sudo apt install -y xrdp
$ cd
$ echo "xfce4-session" | tee .xsession
$ sudo reboot

Logitech Wireless Gamepad F710

Mode X.

$ usb-devices
...
T:  Bus=01 Lev=02 Prnt=03 Port=02 Cnt=01 Dev#= 10 Spd=12  MxCh= 0
D:  Ver= 2.00 Cls=ff(vend.) Sub=ff Prot=ff MxPS= 8 #Cfgs=  1
P:  Vendor=046d ProdID=c21f Rev=03.05
S:  Manufacturer=Logitech
S:  Product=Wireless Gamepad F710
S:  SerialNumber=3DA39E79
C:  #Ifs= 1 Cfg#= 1 Atr=80 MxPwr=98mA
I:  If#=0x0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=5d Prot=01 Driver=xpad
...

Check the connection between Jetson and F710.

$ sudo apt-get install -y jstest-gtk
$ jstest /dev/input/js0

Install joy_linux package.

$ sudo apt install -y ros-foxy-joy-linux
$ ros2 run joy_linux joy_linux_node --ros-args -p dev_name:="Wireless Gamepad F710"

Motor Controller with Teensy 4.0

Install the preprequirements.

$ sudo apt-get install -y python3-serial

TTY setting.

$ systemctl stop nvgetty
$ systemctl disable nvgetty
$ udevadm trigger

Add an user group, dialout, to use tty ports without sudo.

$ sudo usermod -aG dialout ${USER}

Then, you should reboot the jetson.

References

• Jetson Nano – UART
• Permission denied when try connect on /dev/ttyTHS1

Jetson AGX Orin for Teensy 4.0

This is the setup on Jetson AGX Orin for Teensy 4.0.

$ sudo usermod -a -G tty naoya

Host Computer

To develop ROS2 programs on your host/local computer, VS Code ROS Extension was used. Please refer to see the following video:

<iframe width="560" height="315" src="https://www.youtube.com/embed/teA20AjBlG8" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

VSCode

Recommend Extensions:

• C/C++ Extension Pack
• CMake
• Python
• ROS2

Build

$ cd ~/WildPose_v1.1/wildpose
$ colcon build --symlink-install

Usage

Run WildPose with the following commmand, and the data will be recorded in a rosbag file in rosbags/.

$ sudo ip link set down can0 && sudo ip link set up can0
$ ros2 launch wildpose_bringup wildpose_launch.py

After that, you can open eCAL Recorder.

$ ecal_rec_gui --config ~/WildPose_v1.1/wildpose/src/wildpose_bringup/config/config.ecalrec --activate

Generate Video

Install requirements:

$ sudo apt install -y ffmpeg
$ sudo apt install -y python3-roslib python3-rospy python3-sensor-msgs python3-opencv
$ pip3 install tqdm ffmpeg-python

Convert a rosbag file into a video file:

$ cd src/
$ ./rosbag2video.py --input_db ~/WildPose_v1.1/wildpose/rosbags/20221002_192302/20221002_192302_0.db3

Replay

$ ros2 run image_view image_view --ros-args --remap /image:=/image_raw