FlyingCar

A portable sensor pack with laser range scanner, IMU, CSI camera, RGBD camera and SBC, no wheel odometry needed.

ydlidar laser: typeC to USB3.0
realsense d435: typeC to USB3.0
Sparkfun imu m0: miniUSB to USB3.0
ydlidar power: miniUSB to USB2.0 (power only)
jetson nano power: miniUSB to USB2.0 (power only)

video:
https://youtu.be/RzYN6_YmYO0

Usage

flyingcar_description

# robot model
roslaunch flyingcar_description spawn.launch rviz:=1

flyingcar_gazebo

# simulation
roslaunch flyingcar_gazebo spawn.launch

flyingcar_sensors

# imu 
roslaunch flyingcar_sensors imu.launch rviz:=1
# laser range finder
roslaunch flyingcar_sensors lidar.launch rviz:=1
# rgbd camera
roslaunch flyingcar_sensors rgbd.launch rviz:=1
# rgb camera
roslaunch flyingcar_sensors rgb.launch rviz:=1

flyingcar_bringup

# bringup real sensors(rgbd, laser, imu) on FlyingCar
roslaunch flyingcar_bringup spawn_livd.launch rviz:=0
# bringup real sensors(rgb, laser, imu) on FlyingCar
roslaunch flyingcar_bringup spawn_liv.launch rviz:=0
# bringup real sensors(laser, imu) on FlyingCar
roslaunch flyingcar_bringup spawn_li.launch rviz:=0
# monitor sensor data by pc
roslaunch flyingcar_bringup bringup_rviz.launch

flyingcar_cartographer

# cartographer slam
roslaunch flyingcar_cartographer flyingcar_cartographerSLAM.launch  
# pure localization
roslaunch flyingcar_cartographer flyingcar_pure_localization.launch
roslaunch flyingcar_cartographer flyingcar_init_pose.launch
# monitor result by pc
roslaunch flyingcar_cartographer cartograher_rviz.launch
# save map as .pbstream
rosservice call /finish_trajectory 0
rosservice call /write_state "{filename: '${HOME}/Downloads/map.bag.pbstream'}"

test CSI camera with gstream, more test could be found at JetsonHacksNano/CSI-Camera

gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM),width=3820, height=2464, framerate=21/1, format=NV12' ! nvvidconv flip-method=2 ! 'video/x-raw,width=960, height=616' ! nvvidconv ! nvegltransform ! nveglglessink -e

test realsense d435 on realsense-viewer (make sure that you use 3.0 port/wire, and the correct orientation of type-C)

cd /usr/local/bin
realsense-viewer