bees

Update WORKSPACE_DIR in scripts/env/setup.bash to point directory bees was cloned to

Setup Robot

Install projects and dependencies

chmod +x install_robot.bash scripts/install_robot.bash

Install additional useful apps

scripts/install/install_host_utils.bash

Add support of camera ov7982

sudo nano /boot/firmware/config.txt\

Add dtoverlay=ov7251

sudo reboot

Check video0 device appeared after reboot:

ls -l /dev/video*

Start ROS Nodes

in case we use robot as ROS master

scripts/start/start_master_robot.bash

otherwise

scripts/start/start_robot.bash

Start Estimating device pose using Visual Odometry

TODO scripts/vins/start_vins.bash

Record rosbags with sensors data

scripts/record/record*.bash

Setup Developer Host Machine

Install projects and dependencies

chmod +x install_host.bash scripts/install_host.bash

Install additional useful apps

scripts/install/install_device_utils.bash

Start ROS Nodes

in case we use host as ROS master

scripts/start/start_host_robot.bash

otherwise

scripts/start/start_host.bash

Sensors Calibration

Camera

scripts/calibrate/calibrate_cam.bash

IMU

scripts/calibrate/calibrate_imu.bash

Camera-IMU

scripts/calibrate/calibrate_imu.bash

Simulation of Visual Odometry using recorded rosbags with sensor data

TODO scripts/vins/start_vins.bash

View Camera Stream online

scripts/gui/view_camera.bash

Multi machine ROS setup examples

Host is master

nano /etc/hosts

127.0.0.1 uNest 192.168.1.6 bee

nano ~/.bashrc

source /opt/ros/noetic/setup.bash export ROS_MASTER_URI=http://127.0.0.1:11311 export ROS_IP=192.168.1.9 export ROS_HOSTNAME=uNest

source ~./bashrc

Robot is slave

nano /etc/hosts

127.0.0.1 bee 192.168.1.9 uNest

nano ~/.bashrc

source /opt/ros/noetic/setup.bash export ROS_MASTER_URI=http://192.168.1.3:11311 export ROS_IP=192.168.1.6 export ROS_HOSTNAME=bee

source ~./bashrc