This is the primary repository for the Olin College Aero club's attempt at competing in IARC 2018.

Running with Docker

Installing GPU acceleration

# https://nvidia.github.io/nvidia-docker/
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
  sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/ubuntu16.04/amd64/nvidia-docker.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update

# https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-1.0)
sudo apt-get install nvidia-docker

Starting the container and getting a terminal

nvidia-docker run -it --rm \
	--net foo \
	--name devel \
	--env="DISPLAY" \
	--env=UIUSER=(whoami) \
	--volume="/etc/group:/etc/group:ro" \
	--volume="/etc/passwd:/etc/passwd:ro" \
	--volume="/etc/shadow:/etc/shadow:ro" \
	--volume="/etc/sudoers.d:/etc/sudoers.d:ro" \
	--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
	ros:iarc-2017-devel   \
	bash

Getting more terminals

docker exec -it devel bash

Running GUI tools

docker exec devel ui rviz
# or
docker exec devel ui rqt
# .... etc

Installation instructions

This repository includes a dependency on gstreamer, a program for low-latency network video streaming. You must install it for the program to build.

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-* gstreamer1.0-libav* gstreamer1.0-plugins*

All other dependencies can be installed using rosdep and pip:

rosdep install --ignore-src --from-paths $(rospack find iarc_main)/.. -y
pip install -r $(rospack find iarc_main)/../requirements.txt

Finally, catkin_make can be used to build the code

cd ~/catkin_ws && catkin_make

Copy camera calibration to your ROS install

mkdir -p ~/.ros/camera_info && cp $(rospack find iarc_vision)/calibration/* ~/.ros/camera_info/

Useful Commands

As of 12/18/2017, the following commands are useful to run the code on an AR Drone

roscore
roslaunch iarc_main backbone.launch
roslaunch iarc_main ardrone_interface.launch

roslaunch iarc_vision apriltags.launch
rosrun iarc_main ardrone_keyboard.py cmd_vel:=/teleop/cmd_vel

# One of the following three...
rostopic pub /arbiter/activate_behavior std_msgs/String "teleop" -1
rostopic pub /arbiter/activate_behavior std_msgs/String "goto_click" -1
rostopic pub /arbiter/activate_behavior std_msgs/String "follow" -1

rqt
rviz
rostopic echo /ardrone/navdata/batteryPercent

rosbag record -a -x ".*image_raw\$|.*tag_detections.*"