- Turtlebot 2
- Holybro X500
- Pixhawx PX4 flight controller
- Slamtec A2M8 lidar
- Orbecc Astra
- Realsense D435i
- Flir Lepton 3.5 + Pure Thermal 2 board
- Vive tracker
Follow instructions here
Install ros-noetic-desktop-full
Install catkin tools
sudo apt install python3-catkin-tools
install all dependencies
sudo apt install libuvc-dev ros-noetic-rgbd-launch ros-noetic-joy ros-noetic-openni2-launch ros-noetic-gmapping ros-noetic-gmapping ros-noetic-slam-gmapping ros-noetic-move-base ros-noetic-amcl ros-noetic-navigation v4l-util
- create a catkin workspace
- clone this repo to the source folder or just clone pkg's you require
rosdep install --from-paths src --ignore-src -r -y
catkin build
install dependencies
sudo apt install libuvc-dev
sudo apt install ros-noetic-rgbd-launch
clone pkg to ws
git clone https://github.com/orbbec/ros_astra_camera
install dependencies
sudo apt install ros-noetic-joy ros-noetic-openni2-launch ros-noetic-gmapping ros-noetic-slam-gmapping ros-noetic-move-base ros-noetic-amcl ros-noetic-navigation ros-$ROS_DISTRO-realsense2-camera
git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/yujinrobot/kobuki.git
git clone https://github.com/yujinrobot/yujin_ocs
In the turtlebot_apps pkg, delete turtlebot_follower In the yujin_ocs pkg, delete everything except 'yocs_cmd_vel_mux', 'yocs_controllers', and 'yocs_velocity_smoother'.
rosdep install --from-paths src --ignore-src -r -y
Follow instructions here
sudo apt install ros-$ROS_DISTRO-realsense2-camera
launch
roslaunch realsense2_camera rs_camera.launch
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
roslaunch realsense2_camera rs_camera.launch clip_distance:=2
See GitHub page for more launch parameters
sudo apt install v4l-utils
Set udev rules
sudo sh -c "echo 'SUBSYSTEMS==\"usb\", ATTRS{idVendor}==\"1e4e\", ATTRS{idProduct}==\"0100\", SYMLINK+=\"pt1\", GROUP=\"usb\", MODE=\"666\"' > /etc/udev/rules.d/99-pt1.rules"
sudo service udev reload
sudo service udev restart
Determine index of Lepton_pt, and set index /lepton_pt_capture/scripts/capture.py
v4l2-ctl --list-devices
and look for
Video Capture 255 (usb-0000:00:14.0-1):
/dev/video0
/dev/video1
/dev/media0
read the comments in the script
rosrun lepton_pt_capture capture.py
usage astra turtlebot
roslaunch laser_assembler ptcl2_assembler.launch
rosrun laser_assembler ptcl2_assembler
usage realsense
roslaunch laser_assembler ptcl2thermal_assembler.launch
rosrun laser_assembler ptcl2_assembler
http://wiki.ros.org/depth_image_proc
see 2.3 depth_image_proc/point_cloud_xyz
usage
- launch depth camera (astra or realsense)
- rosrun lepton_pt_capture node
roslaunch depth_image_proc point_cloud_xyzrgb_astra.launch
roslaunch depth_image_proc point_cloud_xyzrgb_realsense.launch
usefull resources below
http://wiki.ros.org/rosbag
http://wiki.ros.org/rosbag/Code%20API#Python_API
http://wiki.ros.org/rosbag/Cookbook