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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

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

$ 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