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minicheetah3Dvisulization

This will combine with MiniCheetah code and doing visualization

Installation Guide:

  1. PCL 1.8 for Kinetic
    https://gist.github.com/IgniparousTempest/ce5fadbe742526d10d6bdbf15c3a3fe7 (replace the git clone part with the correct version)

    https://github.com/PointCloudLibrary/pcl.git git checkout tags/pcl-1.8.0 -b pcl-1.8.0

run Ubuntu_18.04_PCL_1.11.0_install.sh 1.11 for melodic git checkout tags/pcl-1.11.0 -b pcl-1.11.0

LCM installation: https://github.com/lcm-proj/lcm/releases/download/v1.3.1/lcm-1.3.1.zip

  1. use beginner_tutorial for listening PCl

  2. Vision_opencv https://github.com/ros-perception/vision_opencv (Branch:need to be checked out base on your ROS version)

  3. Realsense_ROS https://github.com/IntelRealSense/realsense-ros Realsense https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

  4. depthimage_to_laserscan https://github.com/ros-perception/depthimage_to_laserscan

  5. rtabmap https://github.com/introlab/rtabmap_ros refer to this

  6. lcm-to-ROS (install lcm prior to this) (we recommend 1.3.1, available from here https://github.com/lcm-proj/lcm/releases/download/v1.3.1/lcm-1.3.1.zip) To install: unzip lcm-1.3.1.zip cd lcm-1.3.1 ./configure make -j sudo make install sudo ldconfig

  7. new_joint_state(you may buld this at last)

  8. sudo apt install ros-kinetic-joint-state-publisher-gui

Replace all launch file in realsense2_camera, and rtabmap.launch in package rtabmap_ros.

If you have any question, please contact joecc@umich.edu