AgricultureDataset-SensorSuiteBuild

GitHub setup

Create the token in Github webpage, activate the repo option

Install Git's Credential Helper (to avoid typing password repetitively)

 sudo apt-get install libsecret-1-0 libsecret-1-dev
 cd /usr/share/doc/git/contrib/credential/libsecret
 sudo make
 git config --global credential.helper /usr/share/doc/git/contrib/credential/libsecret/git-credential-libsecret

Create a repo on Github webpage

prepare local repo:

 git init
 git add .
 git commit -m "InitialCommit"
 git remote add origin http://......
 git push -u origin main (--force)

Here they will ask for username and password, use token as your password instead of github password

Other useful commands

	1. Rename branch: git branch -m master main
	2. Switch branch: git checkout main
	3. Merge changes: git merge other-branch-name
	4. Fetch changes: git fetch origin
	5. Pull changes: git pull origin main

1. LIDAR driver installation (Ouster)

1) Install the official driver (to ros workspace)

git clone --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git

catkin_make -DCMAKE_BUILD_TYPE=Release

2) Give your lidar a fixed IP

a. go into settings, network cable setting, give IPv4 a manual address e.g. 192.168.254.150 & Netmask 255.255.255.0 then disable IPv6

b. check lidar ip to make sure its using IPv4 and static address:

avahi-browse -lr _roger._tcp
http http://169.254.217.248/api/v1/system/network/ipv4/override

null means its not static

use

echo \"192.168.254.101/24\" | http PUT http://169.254.217.248/api/v1/system/network/ipv4/override

to force it to use a static one

for my lidar, it gives:

HTTPConnectionPool(host='169.254.217.248', port=80): Max retries exceeded with url: /api/v1/system/network/ipv4/override (Caused by NewConnectionError('<urllib3.connection.HTTPConnection object at 0x7f5a7f332be0>: Failed to establish a new connection: [Errno 113] No route to host',)) in IPv4 setting, give the pc a closer address, such as 169.254.217.150 then following echo... command should pass, change it back to 192.168.254.150 if necessary. During this, LIDAR and PC may need to be restarted multiple times.

once finished, run http http://169.254.217.248/api/v1/system/network/ipv4/override to double check if IP is static, if the last line of the output shows 192.168.254.101/24, means setting succeed.

not sure what it does: export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libGLdispatch.so.0:$LD_PRELOAD

c. run the visulisation to validate the installation

source devel/setup.bash
roslaunch ouster_ros sensor.launch sensor_hostname:=192.168.254.101

RLException: Unable to contact my own server at

nano ~/.bashrc
source ~/.bashrc

When running across 2 PCs: Bond broken, exiting REQUIRED process [os_node-2] has died!

The issue comes from time synchronisation, disable bond:
<arg name="no_bond" default="true" should solve the issue.

2. IMU driver installation (3dm-gx5-ahrs)

1) Install the official driver (to ros workspace)

git clone --recursive --branch ros https://github.com/LORD-MicroStrain/microstrain_inertial.git
catkin_make

b. remember to install the missing libraries

sudo apt-get install ros-noetic-nmea-msgs
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get install libgeographic-dev)

c. Change ros source if needed

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2) for my case, the imu driver requires a full clean of the ros workspace:

catkin init
catkin clean -y --workspace ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

3) Connect the imu and test the driver

a. Change device permission: sudo chmod 666 /dev/ttyACM0

b. Run the testing script: roslaunch microstrain_inertial_driver microstrain.launch

3. GNSS driver installation (F9P)

1) Config the receiver using U-center

a. View > Configuration View

b. MSG (Messages), enable USB

$GxGGA: Essential fix data which provides 3D location and accuracy data.
$GxGLL: Geographic position, latitude/longitude, and time of position fix.
$GxRMC: Recommended minimum specific GPS/Transit data, which includes

c. CFG (configuration), Save current configuration, Send

d. Receiver > Action > Save Config

e. Double checking by going back to MSG

2) Install Drivers:

sudo apt-get install gpsd gpsd-clients
sudo apt-get install ros-noetic-serial

Change the gpsd config file: nano /etc/default/gpsd

START_DAEMON="true"
GPSD_OPTIONS=""
DEVICES="/dev/ttyACM0"
USBAUTO="true"

Then test the driver with gpsd

sudo systemctl restart gpsd
sudo service gpsd restart
cgps

Install nmea_navsat_driver

sudo apt-get install ros-noetic-nmea-navsat-driver

3) Connect the GNSS receiver and test the driver

a. Change device permission:

sudo chmod 666 /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM0

b. Run the NMEA serial script:

rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM0 _baud:=9600

c. Run the Ros node:

rosrun gpsd_client gpsd_client
rostopic echo /fix

4. Theta V driver installation

1) Config the Camera

Put the camera into live streaming mode

2) Install Drivers:

a. Camera driver

git clone https://github.com/ricohapi/libuvc-theta.git
sudo apt install libjpeg-dev
cd libuvc-theta
mkdir build
cd build
cmake ..
make
sudo make install
cd ../..
git clone https://github.com/ricohapi/libuvc-theta-sample.git
cd libuvc-theta-sample/gst
make
$ ./gst_viewer

b. Install dependencies

libptp (use ptpcam --help to verify installation)

sudo apt-get install libusb-dev libusb-0.1-4
cd libptp2-1.2.0
./configure --with-libusbdir=/usr
make
sudo make install
chmod +x /home/shuoyuan/catkin_ws/src/ricoh_theta_ros/deps/libptp/src/.libs/ptpcam
sudo cp /home/shuoyuan/catkin_ws/src/ricoh_theta_ros/deps/libptp/src/.libs/ptpcam /usr/local/bin/
export PATH=$PATH:/home/shuoyuan/catkin_ws/src/ricoh_theta_ros/deps/libptp/src/.libs
sudo apt-get install ros-noetic-cv-camera

Cannot find ricoh

export PATH=$PATH:/home/shuoyuan/catkin_ws/src/ricoh_theta_ros/utils
or
sudo cp /home/shuoyuan/catkin_ws/src/ricoh_theta_ros/ricoh_theta_ros/utils/ricoh /usr/local/bin/ricoh
sudo chmod +x /usr/local/bin/ricoh

Error: Cannot identify device '/dev/video1'

[ERROR] [1712656572.447247469]: cv camera open failed: device_id0 cannot be opened

The source code of the ricoh node is not giving enough time for gst_loopback to fully initilise (maybe a less powerfully computer wouldnt have the same issue). Adding a sleep time behind gst_loopback solves it.

c. Camera Ros Node (remember to replace the libptp in dependency to the newest version since the one included is for ARM processors)

git -C src clone --recursive https://github.com/madjxatw/ricoh_theta_ros.git
catkin_make

Choppy and Laggy stream

3) Connect the Camera and test the driver

source ~/devel/setup.bash
sudo modprobe v4l2loopback
export PATH=$PATH:/home/shuoyuan/catkin_ws/src/ricoh_theta_ros/deps/libuvc-theta-sample/gst
rosrun ricoh_theta_ros start.sh
rqt_image_view

b. Use these settings to avoid lags and freezes

if (strcmp(cmd_name, "gst_loopback") == 0)
  pipe_proc = "decodebin ! autovideoconvert ! "
    "video/x-raw,format=I420 ! identity drop-allocation=true !"
    "v4l2sink device=/dev/video0 qos=false sync=false";
else
  pipe_proc = " decodebin ! glimagesink qos=false sync=false";

c. resolution can be reduced as follows:

pipe_proc = "decodebin ! videoconvert ! videoscale ! video/x-raw,width=1280,height=720,format=I420 ! x264enc tune=zerolatency ! rtph264pay ! udpsink host=example.com port=5000 qos=false sync=false";

pipe_proc = "decodebin ! videoconvert ! videoscale ! video/x-raw,width=1920,height=960,format=I420 ! identity tune=zerolatency ! "
  "v4l2sink device=/dev/video0 qos=false sync=false";

5. Launch script

Before running the script, connect the lidar, 360 camera, and IMU to the NUC. Toggle the mode button (3rd side button from the top) to live video mode.

1) Source catkin workspace and master

sudo nano .bashsrc
uncomment last 2 lines 
    # >>> fishros initialize >>>
    source /opt/ros/noetic/setup.bash
    source /home/shuoyuan/catkin_driver_ws/devel/setup.bash
    source /home/shuoyuan/catkin_code_ws/devel/setup.bash
    # <<< fishros initialize <<<
    # export ROS_IP=192.168.1.150
    # export ROS_MASTER_URI=http://192.168.1.102:11311
source .bashrc

2) Launch sensors then recording (keep all sensors running, record when needed)

rosrun sensorsuite sensorsuite.sh
roslaunch sensorsuite recordstart.launch

3) When IMU is not responding, try unplug then plugin the IMU or change the IMU USB ID here:

/home/shuoyuan/catkin_driver_ws/src/microstrain_inertial/microstrain_inertial_driver/microstrain_inertial_driver_common/config/params.yml

replacing ttyACM1 to ttyACM0 or vice versa

NOTE!!! `Restart the PC once a recording is finished to avoid buffering issues of the IMU.`

6. Setting up SLAM algorithm

1) LIO-SAM

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

a) Change the following line to enable PCL compatibility: set(CMAKE_CXX_FLAGS "-std=c++11") to set(CMAKE_CXX_FLAGS "-std=c++14")

b) Modify line to avoid: imuPreintegration.cpp:214:100: error: conversion from ‘std::shared_ptrgtsam::PreintegrationParams’ to non-scalar type ‘boost::shared_ptrgtsam::PreintegrationParams’ requested' boost::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity); to std::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);

c) Install related libs:

sudo apt-get install ros-noetic-robot-localization

d) Set the system to use sim time: rosparam set use_sim_time true

e) Try different "extrinsicRot" and extrinsicRPY in "params.yaml

f) View point cloud pcl_viewer lio_sam_map.pcd

2) DSO

a) Run

roslaunch direct_lidar_odometry dlo.launch

b) Save pcd

rosservice call /robot/dlo_map/save_pcd 0.2 "/home/shuoyuan/output"

7. Connecting to Antobot

1) ssh into antobot

antobot
password
ip 192.168.1.102

shuoyuanxu/AgricultureDataset-SensorSuiteBuild

AgricultureDataset-SensorSuiteBuild

GitHub setup

Other useful commands

1. LIDAR driver installation (Ouster)

1) Install the official driver (to ros workspace)

2) Give your lidar a fixed IP

null means its not static

for my lidar, it gives:

RLException: Unable to contact my own server at

When running across 2 PCs: Bond broken, exiting REQUIRED process [os_node-2] has died!

2. IMU driver installation (3dm-gx5-ahrs)

1) Install the official driver (to ros workspace)

2) for my case, the imu driver requires a full clean of the ros workspace:

3) Connect the imu and test the driver

3. GNSS driver installation (F9P)

1) Config the receiver using U-center

2) Install Drivers:

3) Connect the GNSS receiver and test the driver

4. Theta V driver installation

1) Config the Camera

2) Install Drivers:

libptp (use ptpcam --help to verify installation)

Cannot find ricoh

Error: Cannot identify device '/dev/video1'

[ERROR] [1712656572.447247469]: cv camera open failed: device_id0 cannot be opened

Choppy and Laggy stream

3) Connect the Camera and test the driver

5. Launch script

1) Source catkin workspace and master

2) Launch sensors then recording (keep all sensors running, record when needed)

3) When IMU is not responding, try unplug then plugin the IMU or change the IMU USB ID here:

NOTE!!! Restart the PC once a recording is finished to avoid buffering issues of the IMU.

6. Setting up SLAM algorithm

1) LIO-SAM

2) DSO

7. Connecting to Antobot

1) ssh into antobot

NOTE!!! `Restart the PC once a recording is finished to avoid buffering issues of the IMU.`