Preparation: Nvidia Agx Orin setup, details in Jetson AGX Orin Set-up
1. XRos (Ros packages for Hexman)
Their packages is not freindly to ros green-hand like me, limited documentation. :(
So, I tried myself to give more explanation.
The structure of XROS
├── BASE
│ ├── xpkg_comm
│ └── xpkg_vehicle
├── BRINGUP
│ └── xpkg_bringup
├── URDF
│ ├── xpkg_urdf_echo
│ ├── xpkg_urdf_echo_plus
│ ├── xpkg_urdf_mark1_diff
│ ├── xpkg_urdf_mark1_mcnm
│ ├── xpkg_urdf_mark2_mcnm
│ ├── xpkg_urdf_ray
│ └── xpkg_urdf_york
I copy the packages under BASE and BRINGUP into catkin/src, here is the CMD to build them.
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
--pkg xpkg_bringup xpkg_comm xpkg_vehicle
Files in URDF were ignored since there is no need for using gazebo.
2. SLAM with realsense
I followed the offcial tutorial SLAM-with-D435i. First, four packages are required: realsense2_camera, imu_filter_madgwick, rtabmap_ros, robot_localization. use rospack find to check if they were installed
rospack find realsense2_camera
rospack find imu_filter_madgwick
rospack find rtabmap_ros
rospack find robot_localization
Except for realsense2_camera, they throw message like [rospack] Error: package 'imu_filter_madgwick' not found . So I need to install them one by one.
First, robot_localization
export ROS_PACKAGE_PATH=$HOME/ros_catkin_ws/src
rosinstall_generator robot_localization --rosdistro noetic --deps --exclude RPP \
| vcs import src
sudo apt install libgeographic-dev libbullet-dev -y
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
--merge --pkg geographic_msgs uuid_msgs robot_localization
Then, rtabmap_ros and their dependices.
rosinstall_generator rtabmap_ros octomap octomap_msgs octomap_rviz_plugins --rosdistro noetic --deps --exclude RPP \
| vcs import src
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --merge --pkg \
pcl_conversions pcl_msgs pcl_ros tf2 tf2_eigen tf2_sensor_msgs image_geometry rtabmap \
rtabmap_conversions rtabmap_msgs rtabmap_util octomap octomap_msgs
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --merge --pkg \
move_base_msgs costmap_2d voxel_grid octomap_rviz_plugins rtabmap_rviz_plugins \
rtabmap_costmap_plugins rtabmap_demos rtabmap_ros rtabmap_examples rtabmap_launch \
rtabmap_legacy rtabmap_odom rtabmap_python rtabmap_slam rtabmap_sync rtabmap_viz
Once, rtabmap_util throws that octomap_msgs can not find a head file in octomap (‘octomap/AbstractOcTree.h’), however, the src, devel_isolated/include/octomap and install_isolated/include/octomap has this file already. Then, I unset the ROS_PACKAGE_PATH and other ROS ENV, it works.
imu_tools
rosinstall_generator imu_tools --rosdistro noetic --deps \
--exclude RPP | vcs import src
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
--merge --pkg imu_complementary_filter imu_filter_madgwick rviz_imu_plugin
Here we can have a try on realsense’s tracking.
roslaunch realsense2_camera opensource_tracking.launch
Only a little fix is needed: Rviz|Launch File|Value —-|—-|—- Image.ImageTopic|rgb_topic|/camera/color/image_raw DepthCloud.DepthMapTopic|depth_topic|/camera/aligned_depth_to_color/image_raw DepthCloud.ColorImageTopic|camera_info_topic|/camera/color/camera_info
Save before closing. If you want all raw message :
rosbag record -O my_bagfile_1.bag /camera/aligned_depth_to_color/camera_info \
/camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/color/image_raw \
/camera/imu /camera/imu_info /tf_static /odom
/sensor_msgs/PointCloud2
Or, only cloud point .
rosbag record -O my_bagfile_1.bag /camera/aligned_depth_to_color/camera_info \
/camera/color/camera_info /camera/color/image_raw \
/camera/imu /camera/imu_info /tf_static
roscore >/dev/null 2>&1 &
rosparam set use_sim_time true
rosbag play my_bagfile_1.bag --clock
roslaunch realsense2_camera opensource_tracking.launch offline:=true