/MOTION-Mission-Computing

Repository for MOTION's companion computer

Primary LanguageJinjaMIT LicenseMIT

MOTION-Mission-Computing

Repository for MOTION's companion computer

Requirements

Optional

  • ZSH Autocomplete: eval "$(register-python-argcomplete3 ros2)"
  • Realsense: ros-foxy-realsense2-camera
  • Realsense models: sudo apt-get install ros-foxy-realsense2-description
  • Cartographer: sudo apt install ros-foxy-cartographer-ros
  • Camera calibration stuff: sudo apt install ros-foxy-camera-calibration ros-foxy-camera-calibration-parsers ros-foxy-camera-info-manager ros-foxy-launch-testing-ament-cmake
  • PCL ROS: sudo apt install ros-foxy-pcl-ros

Notes

  • To clone run git clone git@github.com:NEU-Project-MOTION/MOTION-Mission-Computing.git --recurse-submodules
  • To build run ./scripts/build.py -p (omit the -p after first build)
  • On a first build of PX4 run param set NAV_RCL_ACT 0
  • The Jetson Nano's IP over USB is 192.168.55.100
  • Jetson slow AF wifi fix: sudo iw dev wlan0 set power_save off
  • donatello@nuav
  • Jetson realsense: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
  • To convert realsense to laser scan (2D): ros2 run depthimage_to_laserscan depthimage_to_laserscan_node --ros-args -r depth:=/camera/depth/image_rect_raw -r depth_camera_info:=/camera/depth/camera_info -r scan:=/camera/scan
  • Camera calibration: Docs here
  • Checkerboard generator: Website
  • Run T625: ros2 launch realsense2_camera rs_launch.py tf_publish_rate:=20 pose_enabled:=true pose_fps:=200 publish_odom_tf:=true publish_tf:=true
  • find video device parameters ffmpeg -f v4l2 -list_formats all -i /dev/video0
  • record video with ffmpeg ffmpeg -f v4l2 -framerate 25 -video_size 640x480 -i /dev/video0 output.mkv

Running Tunnel Mission With Stella

Make sure everything is the newest colcon build

  • Note: Can follow drone in sim by going to view in Gazebo and selecting the realsense image_raw topic

Terminal 1

  • source scripts/setup.sh
  • sim

Terminal 2

  • Go to location of QGroundControl
  • ./QGroundControl.AppImage
  • Upload loop1test.plan into Qgroundcontrol
  • Change form Hold to Mission in upper right corner

Terminal 3

  • Go to MOTION-STELLA-VSLAM
  • source install/setup.sh
  • ros2 launch cracked_stella sim_slam.launch.py