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README.md

Automated Driving /src/

/src/ directory of catkin_ws for Roboys' automated driving project. Note that this purely is a conglomeration of code that by no means enables true autonomy.

Getting ready to go

Cloning

Clone this repository to your catkin workspace's source directory by running the following command (notice the dot in the end!).

git clone https://github.com/Roboy/autonomous_driving_src.git .

Things to do before building

Install...

... Map Server:

sudo apt-get install ros-kinetic-map-server

... LIDAR:

sudo apt-get install ros-kinetic-sick-scan

... Cartographer

sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install ros-kinetic-abseil-cpp

... TF2

sudo apt-get install ros-kinetic-geometry2

... for obstacle_detector:

sudo apt-get install libarmadillo-dev

... for communication messages:

sudo apt-get install ros-kinetic-moveit-msgs

... for Intel Realsense Camera (steps copied from official documentation):

sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo rm -f /etc/apt/sources.list.d/realsense-public.list
sudo apt-get update
sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
sudo apt-get install ros-kinetic-cv-bridge

Git Submodules

git submodule init
git submodule update

Compiling Cartographer_ROS

Before compiling, leave your src directory and go to your catkin_ws

Compiling Cartographer_ROS works similar to the Cartographer_ROS documentation but some paths differ due to Roboy using its own fork of Cartographer_ROS.

wstool init src
wstool merge -t src https://raw.githubusercontent.com/Roboy/cartographer_ros/roboy/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

To be able to run pure localization, the following step is essential:

cd src/cartographer/
git checkout master

Building

After you completed all of the above steps, run

catkin build

HOW-TO

Google Cartographer_ROS

Cartographer is a system that provides real-time simultaneous localization and mapping SLAM in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.

Geometry2

Geometry2 is a metapackage to bring in the default packages second generation Transform Library in ROS. Make sure you get the version for kinetic when building (Switch branches!).

Obstacle_Detector

Intel Realsense Camera

Intel(R) RealSense(TM) ROS Wrapper for D400 series and SR300 Camera http://wiki.ros.org/RealSense

Follow Usage Instructions in provided link for first steps.

Sick_Scan

Sick Scan is the ROS-package provided by the manufacturer of the LiDAR. Before launching the according file, it is required to set the LIDAR IP adress accordingly (i.e. 192.168.0.42). Alternatively you can provide the parameter as an argument with roslaunch.

roslaunch roboy_ad sick_lms_155.launch -use_binary_protocol

FAQ

Q: My catkin build was successfull at first but when I execute it again there is an error for cartographer_ros, cartogarpher or it even wants some Abseil-function.

A: You need to compile cartographer_ros again. First, do catkin clean and delete the following directories: catkin_ws/src/cartographer catkin_ws/src/ceres-solver and catkin_ws/protobuf. Then follow the steps to compile cartographer_ros.

Q: roslaunch command not found

A: run source /devel/setup.bash in your catkin directory.