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| | == ROS Workspace == | | == ROS Workspace == |
| | * 2 ROS workspaces are available on the home directory for ROS1/ROS2 | | * 2 ROS workspaces are available on the home directory for ROS1/ROS2 |
| − |
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| − | == Software installation from scratch ==
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| − |
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| − | 1. Linux 16.04 for AAEON board:
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| − | [https://wiki.up-community.org/Ubuntu ubuntu_16.04]
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| − | 2. Ros kinetic:
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| − | [http://wiki.ros.org/kinetic/Installation/Ubuntu ros_kinetic]
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| − | 3. Ros 2 ardent:
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| − | [https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/ ros2_ardent]
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| − | <strong>Note: link for ros2 crystall, use ardent prefixes instead.</strong>
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| − | 4. Install/update camera realsense D435I SDK and firmware from official source.
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| − | [https://www.intelrealsense.com/developers/ realsense]
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| − | 5. Install OpenVino Toolkit:
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| − | [https://docs.openvinotoolkit.org/latest/_docs_install_guides_installing_openvino_linux.html#install-openvino openvino]
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| − | 6. Configure static IP in /etc/network/interfaces:
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| − | <strong>Note:valid just for hamster routers, for your own routers please use personal settings</strong>
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| − |
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| − | auto wlan0
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| − | allow-hotplug wlan0
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| − | iface wlan0 inet static
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| − | address 10.0.2.1
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| − | netmask 255.255.255.0
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| − | gateway 10.0.2.138
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| − | dns-nameservers 10.0.2.138
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| − | wpa_ssid "hamster_net5"
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| − | wpa_psk "hamsterHAMSTER"
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| − |
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| − | 7. '''Hamster ROS1 project:'''
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| − |
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| − | 7.1 Workspace:
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| − |
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| − | <code><span style="color:black"></span>$ mkdir -p hamster_ws/src</code>
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| − | <code><span style="color:black"></span>$ cd hamster_ws/src</code>
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| − | <code><span style="color:black"></span>$ git clone https://git.cogni.io/hamster/hamster.git</code>
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| − | login: provides by request
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| − | password: provides by request
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| − | <code><span style="color:black"></span>$ cd hamster</code>
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| − | <code><span style="color:black"></span>$ git checkout master</code>
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| − | <code><span style="color:black"></span>$ cd ../..</code>
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| − | <code><span style="color:black"></span>$ source /opt/ros/kinetic/setup.bash</code>
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| − | <code><span style="color:black"></span>$ catkin_make -DCMAKE_BUILD_TYPE=Release</code>
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| − |
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| − | 7.2 Settings:
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| − |
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| − | <code>cp ~/hamster_ws/src/hamster/hamster_launch/config/hamster.config /home/hamster/</code>
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| − | change inside hamster.config:
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| − | export HAMSTER_IP=YOUR_IP
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| − | export HAMSTER_CAMERA_TYPE_REALSESNE=true
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| − | export HAMSTER_ID=agent*
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| − | * - IP last number
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| − |
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| − | export HAMSTER_WORKSPACE=/home/hamster/hamster_ws
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| − |
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| − | 7.3 Launch:
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| − |
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| − | <code><span style="color:black"></span>$ source /opt/ros/kinetic/setup.bash</code>
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| − | <code><span style="color:black"></span>$ source hamster.config</code>
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| − | <code><span style="color:black"></span>$ cd hamster_ws</code>
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| − | <code><span style="color:black"></span>$ source devel/setup.bash</code>
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| − | <code><span style="color:black"></span>$ roslaunch hamster_launch single_board.launch</code>
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| − |
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| − | 8. '''Hamster ROS2 project:'''
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| − |
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| − | 8.1 Workspace:
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| − |
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| − | <code><span style="color:black"></span>$ mkdir -p hamster_ros2_ws/src</code>
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| − | <code><span style="color:black"></span>$ cd hamster_ros2_ws/src</code>
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| − | <code><span style="color:black"></span>$ git clone https://git.cogni.io/hamster/ros2_hamster_driver.git</code>
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| − | login: provides by request
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| − | password: provides by request
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| − | <code><span style="color:black"></span>$ cd ../..</code>
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| − | <code><span style="color:black"></span>$ source /opt/ros/ardent/setup.bash</code>
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| − | <code><span style="color:black"></span>$ colcon build</code>
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| − |
| |
| − | 8.2 Settings:
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| − |
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| − | Driver settings described in hamster_driver_node.cpp file rows 330-335.
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| − |
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| − | Required re-compilation after changes
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| − |
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| − | 8.3 Launch:
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| − |
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| − | <code><span style="color:black"></span>$ cd hamster_ros2_ws</code>
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| − | <code><span style="color:black"></span>$ source /opt/ros/ardent/setup.bash</code>
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| − | <code><span style="color:black"></span>$ . install/setup.bash</code>
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| − | <code><span style="color:black"></span>$ ros2 run hamster_driver hamster_driver_node</code>
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