Repository for MOTION's companion computer

• 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 [email protected]: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

• source scripts/setup.sh
• sim

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

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