- Move jetson again
- Isaac ROS Simulator?
- Use isaac ros vslam
- gasket for lidar
- move bno08x to separate repo
- matek optical flow module
- wide angle camera nodelet to take snapshots? https://github.com/ros-drivers/gscam/blob/master/examples/nodelet_pipeline.launch
- gazebo range simulation
- /camera_depth.camera.i_restart_on_diagnostics_error
- /camera_depth.rgb.i_enable_preview
- lidar odom? https://github.com/PRBonn/kiss-icp
- m-explore
- visual odom: https://github.com/MIT-SPARK/Kimera-VIO
- ROS ISAAC VSLAM - https://github.com/luxonis/depthai-ros/commit/038f107800ef40ea1a3359bc37f13614fbd5b572
- Run ROS ISAAC in separate container because they have all the docker images and such
- Battery state publisher from pico
- current/volt sensor
- twist-mux
- calibrate imu covariance
- find_object_2d
- how to annotate rooms?
- behavior trees? https://py-trees-ros.readthedocs.io/en/devel/about.html https://github.com/BehaviorTree/BehaviorTree.CPP
- BNO080 publisher - switch to c https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
- rclcpp::NodeOptions().use_intra_process_comms(true)
- set collision detection on IMU
- stall detection based on rotary encoders
- lcd display?
- m-explore while streaming images to room inference. remember where the photos were taken
- navigation2
- slam 2d/3d slam-toolbox/rtabmap
- param/deepdrive.yaml ros params for wheelbase, serial port, etc
- oak d lite camera simulated
- Add depthai and cache models
- gps
Follow instructions at: https://github.com/mattwilliamson/deepdrive_motor_controller and flash your motor controllers.
git clone https://github.com/mattwilliamson/deepdrive.git
cd deepdrive
git submodule init
git submodule update
make dockershell
colcon build...Run on x86_64 linux machine
make dockersimshell
ros2 launch deepdrive_simulations deepdrive_house.launch.py
ros2 run deepdrive_teleop teleop_keyboard --ros-args -r /cmd_vel:=/deepdrive_micro/cmd_vel
# ros2 launch foxglove_bridge foxglove_bridge_launch.xml
ros2 launch deepdrive_bringup foxglove_bridge_launch.xml
ros2 launch deepdrive_description display.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard
export DEEPDRIVE_MODEL=deepdrive_deepdrive
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/ros_ws/install/deepdrive_simulations/share/deepdrive_simulations/models
ros2 launch deepdrive_nav2_bringup dd_simulation_launch.py headless:=False
export DEEPDRIVE_MODEL=deepdrive
export LDS_MODEL='LDS-01'
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/ros_ws/install/deepdrive_simulations/share/deepdrive_simulations/models
ros2 launch deepdrive_simulations deepdrive_simulation_launch.py headless:=False robot_name:=deepdrive_deepdrive
# slam:=True
ros2 launch deepdrive_navigation2 navigation2.launch.py
## Launch Gazebo and RVIZ
ros2 launch deepdrive_simulations deepdrive_dqn_stage1.launch.py
ros2 launch deepdrive_bringup rviz2.launch.py
# Camera
ros2 launch depthai_examples stereo_inertial_node.launch.py camera_model:=OAK-D-LITE enableRviz:=False depth_aligned:=True rectify:=True
ros2 launch depthai_ros_driver rgbd_pcl.launch.py camera_model:=OAK-D-LITE enableRviz:=False depth_aligned:=True rectify:=True r_set_man_focus:=True r_focus:=1 imuMode:=1
# r_focus:=1
# Foxglove Studio Bridge
ros2 launch foxglove_bridge foxglove_bridge_launch.xml
DEEPDRIVE_MODEL
# TODO: find files waffle.*
Latest testing working:
ros2 launch deepdrive_bringup robot.launch.py
ros2 run deepdrive_teleop teleop_keyboard# ros2 run deepdrive_hardware motor_controller
ros2 launch deepdrive_bringup robot.launch.py
ros2 run deepdrive_teleop teleop_keyboardros2 launch deepdrive_lidar ldlidar_with_mgr.launch.pyros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_sim_time:=Trueros2 launch deepdrive_nav2_bringup tb3_simulation_launch.py headless:=False use_sim_time:=Truexacro src/deepdrive_description/urdf/deepdrive_deepdrive.xacro > src/deepdrive_description/urdf/deepdrive_deepdrive.urdf
urdf-viz src/deepdrive_description/urdf/deepdrive_deepdrive.urdfhttps://github.com/ros-planning/navigation2_tutorials https://github.com/ros-planning/navigation2_tutorials/tree/master/sam_bot_description https://navigation.ros.org/ https://robofoundry.medium.com/modifying-stl-files-to-work-with-urdf-686cb15a4488 https://github.com/ros-mobile-robots/diffbot
- Move novnc as an optional startup script
- File structure https://rtw.stoglrobotics.de/master/guidelines/robot_package_structure.html
- Host networking doesn't let x11 listen on the port
https://github.com/theasp/docker-novnc https://github.com/AtsushiSaito/docker-ubuntu-sweb https://github.com/Tiryoh/docker-ros2-desktop-vnc
with Ubuntu 22.04 (Jammy) instead of Focal
List packages:
~/src/jetson-containers$ ./build.sh --list-packages
Namespace(base='', build_flags='', list_packages=True, logs='', multiple=False, name='', no_github_api=False, package_dirs=[''], packages=[], push='', show_packages=False, simulate=False, skip_errors=False, skip_packages=[''], skip_tests=[''], test_only=[''], verbose=False)
-- L4T_VERSION=35.4.1
-- JETPACK_VERSION=5.1.2
-- CUDA_VERSION=11.4.315
-- LSB_RELEASE=20.04 (focal)
docker login nvcr.io
cd ~/Dropbox/Robotics/jetson-containers
BASE_IMAGE
dustynv/ros:humble-desktop-pytorch-l4t-r35.4.1
./build.sh ros
ros-humble-desktop
Packages:
./build.sh --base l4t-jetpack ros:foxy-desktop
# ./build.sh --base l4t-jetpack ros:humble-desktop l4t-pytorch jupyterlab
langchain llamaspeak llava nanodb numpysudo apt install docker-compose docker-compose-plugin
git clone https://github.com/theasp/docker-novnc.git
cd docker-novnc
docker build -t docker-novnc .
cd ~/src/deepdrive
docker build -t deepdrive .
docker run -it --rm -p 8080:8080 -e DISPLAY_WIDTH=1600 -e DISPLAY_HEIGHT=900 deepdrive /novnc/entrypoint.sh
# ros2 launch foxglove_bridge foxglove_bridge_launch.xml
# ros2 launch deepdrive_description display.launch.py
# ros2 launch deepdrive_bringup rviz2.launch.py
# ros2 run teleop_twist_keyboard teleop_twist_keyboard
https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html
ros2 launch deepdrive_bringup robot.launch.py
ros2 launch deepdrive_bringup foxglove_bridge_launch.xml
# Start Nav2
ros2 launch deepdrive_nav2_bringup navigation_launch.py use_sim_time:=False params_file:=src/deepdrive_nav2_bringup/params/nav2_params.yaml
# Start slam_toolbox
ros2 launch deepdrive_nav2_bringup slam_launch.py use_sim_time:=False params_file:=src/deepdrive_nav2_bringup/params/nav2_params.yaml
# Start teleoperation
ros2 run deepdrive_teleop teleop_keyboard
# --ros-args -r /cmd_vel:=/deepdrive_micro/cmd_vel
ros2 bag record -a -o src/bags/slam-2024-05-30
ros2 bag play src/bags/slam-2024-04-30
Save map
ros2 run nav2_map_server map_saver_cli -f $ROS2_WS/src/deepdrive_navigation2/map/desk
ros2 run nav2_map_server map_saver_cli -f $ROS2_WS/src/deepdrive_navigation2/map/downstairsros2 launch deepdrive_bringup robot.launch.py
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=False params_file:=src/deepdrive_nav2_bringup/params/nav2_params.yaml map:=$ROS2_WS/src/deepdrive_navigation2/map/desk.yaml
ros2 launch deepdrive_nav2_bringup bringup_launch.py slam:=False use_sim_time:=False autostart:=True map:=$ROS2_WS/src/deepdrive_navigation2/map/desk.yaml params_file:=src/deepdrive_nav2_bringup/params/nav2_params.yaml
#ros2 launch nav2_bringup bringup_launch.py use_sim_time:=False autostart:=True map:=$ROS2_WS/src/deepdrive_navigation2/map/desk.yaml params_file:=src/deepdrive_nav2_bringup/params/nav2_params.yamlmamba activate ros_env
mamba install ros-humble-nav2-rviz-plugins
mamba install ros-humble-rviz2
colcon build --symlink-install --packages-select=deepdrive_description
rviz2 -d src/deepdrive_nav2_bringup/rviz/nav2_default_view.rvizLD19
check ./src/deepdrive_lidar/README.md
**currently deprecated in favor of ICM20948 on deepdrive_micro board
sudo /opt/nvidia/jetson-io/jetson-io.py
sudo apt-get install libi2c-dev
sudo i2cdetect -r -y 1pin3 - i2c2 pin5 - i2c2
7 pins up from bottom