---

Rovio

• hardware setup
  • jetson TX2 - Jetpack 4.2
  • jetson AGX Xavier
  • jetson Xavier NX - Jetpack 4.4
  • realsense D435i (color, infra1, infra2)
  • pixhawk4 mini
  
  
• software setup
  • Ubuntu: 18.04
  • ROS: Melodic
  
  
• github link: ethz_asl

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Index

1. Prerequisites

    ● kindr

    ● lightweight_filtering

2. Install

3. Jetson Boards

    ● Actually, there is no installation among between TX2, Xavier, and NX

4. Run

1. Prerequisites

● kindr

• kindr from here

$ cd ~/catkin_ws/src
$ git clone https://github.com/ANYbotics/kindr
$ cd .. && catkin build -DCMAKE_BUILD_TYPE=Release -j3

● lightweight_filtering

• as submodule, use "git submodule update --init --recursive"

$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/rovio
$ cd rovio && git submodule update --init --recursive

2. Installation

• rovio is set to 'stereo'. However, the 'stereo mode' doesn't work in my case. Fortunately, rovio supports changing 'stereo mode' <-> 'mono mode'. Let's change the rovio into 'mono'
  
  in ~/rovio/CMakeLists.txt line 5, change

set(ROVIO_NCAM 2 CACHE STRING "Number of enabled cameras")
to
set(ROVIO_NCAM 1 CACHE STRING "Number of enabled cameras")

• build from source (already cloned with the lightweight_filtering installation)

$ cd ~/catkin_ws/src
$ catkin build rovio -DCMAKE_BUILD_TYPE=Release -j $(nproc)
$ source ~/catkin_ws/devel/setup.bash

• (optional) install with opengl scene
  • Additional dependencies: opengl, glut, glew

$ sudo apt-get install -y freeglut3-dev, sudo apt-get install libglew-dev
$ sudo apt-get install -y freeglut3-dev libglew-dev
$ cd ~/catkin_ws/src
$ catkin build rovio -DCMAKE_BUILD_TYPE=Release -j $(nproc) -DMAKE_SCENE=ON

3. Jetson Boards

● Actually, no installation difference among TX2, Xavier, and NX

4. Run

● you have to get a calibration data using kalibr

● I made additional launch file named 'd435i_rovio_node_mono' for mono

$ roslaunch realsense2_camera rs_camera.launch
$ roslaunch mavros px4.launch
$ roslaunch rovio d435i_rovio_node_mono.launch