Software Setup
In this section, students will be briefed on the configuration the software drivers of the above devices, including ROS2 driver installations and tests with hardware devices launched through ROS2 drivers. During the training, potential issues regarding device launch will be discussed, and solutions will be provided as a references.
Interface: USB-to-CAN converter (PACMod), USB2.0 (Joystick)
The installed PACMod ROS drivers
1. ros-humble-pacmod2
2. ros-humble-pacmod2-game-control
3. ros-humble-joy # The joystick controller (Logitech F310)
Note
The PACMod is connected to the computer through the USB-to-CAN converter. The joystick controller is connected to the computer through a USB port.
- Copy the gem_ws folder to ~/ROS2_WS/your_ws
$ cd your_ws && colcon_build --symlink-install
$ source install/setup.bash
$ ros2 launch basic_launch dbw_joystick.launch.py
Note
The warning that couldn't not set gain on joystick force feedback is OK. The warning is because this type of controller does not have the force feedback sensor which will not be used at all. If you run into issues see the Troubleshooting section.
Interface: Ethernet cable
The Ouster O1-128 LiDAR ROS driver is provided with source code in /src/hardware_drivers
To launch the top LiDAR sensor, add the following to your launch file or simply use sensor_init.launch.py.
source install/setup.bash
ros2 launch basic_launch ouster_driver.launch.py
# or
ros2 launch ouster_ros driver_launch.py
Warning
The Ouster lidar takes 10-15s to boot up. Currently sensor_init.launch.py will launch other sensor nodes only after the lidar is fully up and running.
Interface: Ethernet cable (via network switch)
The Livox HAP LiDAR ROS driver is provided with source code in /src/hardware_drivers
To launch the front LiDAR sensor, seperately see.
ros2 launch livox_ros_driver2 rviz_HAP_launch.py" />
Interface: PoE Ethernet cable
The corner cameras are connected to the computer through 4 PoE Ethernet ports. FL camera stands for front left camera. FR camera stands for front right camera. RR camera stands for rear right camera. RL camera stands for rear left camera.
To launch corner cameras
ros2 launch basic_launch corner_cameras.launch.py
or
After running sensor_init.launch.py.
rviz2
# Displays panel-> Add -> By topic -> camera_topic -> image
# set the reliablity to best effort.
Interface: USB3.1
The front camera is connected to the computer through a USB 3.1 cable.
To launch the front camera sensor, see
ros2 launch depthai_ros_driver rgbd_pcl.launch.py
Interface: USB2.0
The GNSS INS device is connected to the computer through a USB cable. This USB cable uses USB over Ethernet for Internet access.
ros2 launch basic_launch gnss.launch.py
Interface: LTE
