Core AMAC ROS Metapackages. Should defintely have sudo access to get everything working.
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/AMABerkeley/amac_core.git
git clone https://github.com/AMABerkeley/inertial_sense_ros.git
git clone https://github.com/AMABerkeley/usb_cam.git
git clone https://github.com/AMABerkeley/ouster_lidar.git
git clone https://github.com/AMABerkeley/car_odom.git
git clone https://github.com/AMABerkeley/amac_urdf.git
cd ..
catkin_make
Install Docker Container Environment if you haven't already.
Build and tag the container with docker build -t amac/ros <<PATH>>, replacing PATH with the directory containing the Dockerfile.
To shell into the container, run docker run -it amac/ros.
To run without docker, simply install dnsmasq and perhaps some other dependencies. sudo apt-get install dnsmasq
edit this file sudo vim /etc/dnsmasq.conf
uncomment this line: dhcp-range=192.168.1.50,192.168.1.150,12h
uncomment this line: interface=enp0s31f6
save changes then sethernet connection to manual iPv4 194.168.1.1
run dnsmasq: sudo systemctl start dnsmasq
Use journalctl -fu dnsmasq to see dnsmasq’s status. You should see an IP address be allocated to the sensor after 10-15 seconds.
Then startup all sensors by: roslaunch amac_bringup drive.launch os1_hostname:=<os1_hostname> os1_udp_dest:=<udp_data_dest> os1_hostname deafult: 192.168.1.94 udp_dest default: 192.168.1.1
Not enough bandwidth for three cameras hooked up on one USB-hub plugged into one USB port. Simply run:
sudo rmmod uvcvideo
sudo modprobe uvcvideo quirks=128
OpenCV 2 is needed for usb-cam launch. This is to set size of capture image to smaller than opencv 3 allows.
Must upload arduino code that is here: https://github.com/AMABerkeley/amac_arduino in order for this to run. Future version will embed the compilation of arduino code within this package.
Add a doc-string or file explaining all topics that get published and all topics that can be subscribed to - generate a rosbag viewer