#Socket Server for On-Board Sensors

##Description This server was developed to be put on board a 3DR Solo Quadrotor carrying a Raspberry Pi, camera, and LiDAR sensor. This server provides the means of communicating between the Raspberry Pi and the on-board sensors.

##Setup Environment

1. Make /dev directory for environment

mkdir dev
cd dev

2. Clone and build Apriltag library into /dev (courtesy of Ruixiang Du)

git clone https://github.com/rxdu/apriltag-pose.git

3. Download RPLiDAR A2 SDK from Slamtec website
4. Unzip SDK into /dev

unzip rplidar_sdk_v1.5.7.zip

5. Build SDK in /dev

cd rplidar_sdk/sdk
make all

##How to Compile

1. Clone repository into local environment
2. Navigate to repository
3. Execute:

make all

##How to Execute

1. Compile code
2. Run python server

python mqp.py

3. Run either camera or lidar in bin folder
4. Data should now print into terminal executing server