MOTION-Mission-Computing

Repository for MOTION's companion computer

Requirements

PX4 Install: bash ./src/PX4-Autopilot/Tools/setup/ubuntu.sh
ROS Install: https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
Colcon?: sudo apt install python3-colcon-common-extensions
Gazebo: curl -sSL http://get.gazebosim.org | sh
Gazebo ROS: sudo apt install ros-foxy-gazebo-ros-pkgs
MavROS: sudo apt install ros-foxy-mavros ros-foxy-mavros-extras
MavROS Fix: sudo geographiclib-get-geoids egm96-5
XTerm: sudo apt install xterm
QGroundControl: https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html

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

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

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