- [TODO]
Note It is highly recommended to develop in a virtual machine because our install procedures are not isolated and can be invasive (VM Instructions)
- Install VMWare Workstation Player
- Download, Unzip, and Run in VMWare our preconfigured VM
- Open the
~/colcon_ws
folder in VSCode - If working on Arduino, install the PlatformIO VSCode extension
- Install dependencies with rosdep
cd ~/colcon_ws
rosdep install --from-paths src --ignore-src --skip-keys=librealsense2 -r --rosdistro $ROS_DISTRO -y --include-eol-distros
- Build the desired package
colcon build --packages-select <Package folder name>
build <Package folder name>
- Use
build
function defined in~./bashrc
- Use
- Source the setup script so ros2 can find the packages in this workspace
source ~/colcon_ws/install/setup.bash
ros2 launch navigation-c display.launch.py
Realsense Data Command:
ros2 launch realsense2_camera rs_launch.py enable_accel:=true enable_gyro:=true unite_imu_method:=2
IMU Filter Command:
ros2 run imu_filter_madgwick imu_filter_madgwick_node --ros-args -p use_mag:=false -r /imu/data_raw:=/camera/imu
RTAB-Map Command:
ros2 launch rtabmap_ros rtabmap.launch.py \rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \frame_id:=camera_link \rgb_topic:=/camera/color/image_raw \depth_topic:=/camera/depth/image_rect_raw \camera_info_topic:=/camera/color/camera_info \approx_sync:=true \wait_imu_to_init:=true \imu_topic:=/imu/data \rviz:=false \rtabmapviz:=true
RTAB-Map Debug Mode Command:
ros2 launch rtabmap_ros rtabmap.launch.py \rtabmap_args:="--delete_db_on_start" \frame_id:=camera_link \rgb_topic:=/camera/color/image_raw \depth_topic:=/camera/depth/image_rect_raw \camera_info_topic:=/camera/color/camera_info \approx_sync:=true \wait_imu_to_init:=true \imu_topic:=/imu/data \rviz:=true \rtabmapviz:=false \rtabmap_args:="-d --udebug" \launch_prefix:="xterm -e gdb -ex run --args"
~/colcon_ws/
build/
install/
log/
src/
IRIS/