This package can be used to set up the D2DTracker system on Nvidia Jetson paltforms.

• JetPack 5.1.1. Uses NVIDIA L4T 35.3.1
• JetPack 5.1.2. Uses NVIDIA L4T 35.4.1
• L4T 35.1.0

NOTE: All th following steps should be done on the Jetson board.

• If you face issues with docker permissions after a fresh install of a jetpack, you can execute the following in a terminal on Jetson, and reboot.

  sudo usermod -aG docker $USER
  
  sudo chown root:docker /var/run/docker.sock
  
  rm -rf ~/.docker
  
  #reboot

• Clone this repository

  cd $HOME
  git clone https://github.com/mzahana/d2dtracker_jetson.git

• Export GIT_USER and GIT_TOKEN environment variables (contact admin)

  export GIT_USER=github_user_ID
  export GIT_TOKEN=token

• setup

  cd $HOME/d2dtracker_jetson
  ./setup_d2dtracker.sh

• source $HOME/.bashrc

• run d2dtracker_container alias to enter the container

• [Inside the container] Setup the system

# Enter the container
d2dtracker_container
# Go to the d2dtracker_system pkg
cd $HOME/shared_volume/ros2_ws/src/d2dtracker_system/
./setup.sh

NOTE open_vins is already cloned in the workspace during the setup of the d2dtracker system, and no need to setup a separate docker image for open_vins.

• Pull the latest version of this repo

   cd $HOME/d2dtracker_jetson
   git pull origin main

• Re-build d2dtracker docker image

   export FROCE_BUILD=true
   ./setup_d2dtracker.sh

fro example, if you wish to test the isaac_ros_visual_slam system, you can build its independent docker image as follows.

• Enter the repo's directory and execute the setup_nvidia_container.sh script

  cd $HOME/d2dtracker_jetson
  ./setup_nvidia_container.sh

  NOTE: Provide sudo password when asked.

• source $HOME/.bashrc

• run nvidia_container alias to enter the container

• After entering the container for the 1st time, you need to build the workspace.

  cd /workspaces/isaac_ros-dev
  colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

NOTE open_vins can be built inside the d2dtracker-jetson docker image (see below)

Follow these steps if you wish to build an independent docker image to test open_vins package.

• setup

  cd $HOME/d2dtracker_jetson
  ./setup_openvins.sh

• source $HOME/.bashrc

• run openvins_container alias to enter the container

• After entering the container for the 1st time, you need to build the workspace.

  cd /home/vins/shared_volume/ros2_ws
  MAKEFLAGS='j1 -l1' colcon build --executor sequential

  We are using MAKEFLAGS='j1 -l1' as the Jetson may hang!

• Activate the ocntainer alias that was added to ~/.bashrc after you run setup_d2dtracker.sh. This usually done once as it will be loaded automatically when you run a new terminal.

  source $HOME/.bashrc
  d2dtracker_container

• When you enter the container for the first time after a fresh setup, you will find only once package inside ~/shared_volume/ros2_ws/src. You need to run the setup file to download the remaining packages and build them.

  cd ~/shared_volume/ros2_ws/src/d2dtracker_system
  ./setup.sh

• source the workspace

  source ~/shared_volume/ros2_ws/install/setup.bash

• Inside the d2dtracker-container, there is a config.sh script inside $HOME/shared_volume. Edit which module you wish to run (set its flag to True), save and close it. Source the config.sh script. Then, run

ros2 launch d2dtracker_system run_system.launch.py

source $HOME/.bashrc
nvidia_container

• To use Realsense camera (e.g. D455), connect it (before you power up the board) and run

ros2 launch isaac_ros_visual_slam vslam_realsense.launch.py

TODO

TODO

source $HOME/.bashrc
openvins_container

• To test open_vins on ERUOC dataset, you need to download its ros bag, and then play it
• in another terminal inside the openvins-container run the openvins estimator

ros2 launch ov_msckf subscribe.launch.py config:=euroc_mav

• IMPROTANT: To use open_vins with live IMU/camera system, you will need to calibrate your cameras using Kalibr, calibrate your IMU using allan_ros2 package (only works with ROS foxy, for now), calibrate both cameras and IMU using Kalibr. Then, use the calibration files to update the configuratoin files for open_vins. An example of configuration files for the Realsense D455 camera see the config/open_vins/custom_d455 See below video link for a tutorial.
• Reference: https://docs.openvins.com/gs-tutorial.html
• Video : https://youtu.be/rBT5O5TEOV4

A service is setup to start the d2dtracker system. The service file is called d2dtracker.service and is available in the services directory in this package, here.

This service executes the file /home/hunter/d2dtracker_jetson/services/d2d_service.sh. You need to adjust the path according to your Jetson system setup. However, if you setup your jetson with username hunter and followed the setup instructions in this README, you won't need to change the path to this file.

This script /home/hunter/d2dtracker_jetson/services/d2d_service.sh runs a few commands and then runs another script(/home/hunter/d2dtracker_jetson/services/run_d2dtracker.sh) that starts(or restarts) the d2dtracker-container which itself runs the required launch file inside the container run_system.launch.py located in the d2dtracker_system pkg

For the first time only, you need to run the d2dtracker manually using the alias that was created during the setup process

d2dtracker_container

Once the container is run (and not removed), you can use the service to automatically startup the system.

Enable d2dtracker.service using:

sudo systemctl enable d2dtracker.service

You can disable the service using

sudo systemctl disable d2dtracker.service

Then you can start the service using

sudo systemctl start d2dtracker.service

Then you can stop the service using

sudo systemctl stop d2dtracker.service