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NASA Knights ROS2 packages

Installing and building

This project uses ROS2 Humble, and therefore needs to be running on Ubuntu 22.04

First make a workspace to store the code in, then clone the project to the src folder

mkdir vision_ws
cd vision_ws
git clone https://github.com/NASAKnights/nk_ros_pkgs.git -b humble --recurse-submodules

Install ROS2 Humble with the script in the top level folder of this project

cd nk_ros_pkgs
./install-ros.bash

Now you can build the project by running:

cd ..
colcon build --symlink-install

Vision Pipeline

Running

To run the pipeline you can use the following command:

source vision_ws/install/setup.bash # This will tell the system where to find the code that you just built is and needs to be run in every terminal
source /opt/ros/humble/setup.bash # If other setup bash doesn't work, use this
ros2 launch nk_vision nk_vision.launch.py

Debugging