IRIS

Prerequistes

• [TODO]

Getting Started

Note It is highly recommended to develop in a virtual machine because our install procedures are not isolated and can be invasive (VM Instructions)

1. Install VMWare Workstation Player
2. Download, Unzip, and Run in VMWare our preconfigured VM
3. Open the ~/colcon_ws folder in VSCode
4. If working on Arduino, install the PlatformIO VSCode extension

Commands to know

1. 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
2. Build the desired package
   • colcon build --packages-select <Package folder name>
   • build <Package folder name>
     • Use build function defined in ~./bashrc
3. Source the setup script so ros2 can find the packages in this workspace
   • source ~/colcon_ws/install/setup.bash

Package Usage

Navigation

ros2 launch navigation-c display.launch.py

RTAB-Map SLAM

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"

End Package Folder Structure

~/colcon_ws/
    build/
    install/
    log/
    src/
        IRIS/