Demos: Simple Aruco detection utility Bebop2

By: Edgar I. Chávez-Aparicio email: [email protected]

This is a simple library for ArUco detection with Parrot Bebop2 and ROS1-Noetic. Used by the CIMAT Robotics and Intelligent Systems group.

DEPENDENCIES

• ROS1 - noetic http://wiki.ros.org/noetic/Installation/Ubuntu
• bebop_authonomy http://wiki.ros.org/bebop_autonomy

Install ROS - noetic

sudo sh -c 'echo "deb http://archive.ubuntu.com/ubuntu focal universe" >> /etc/apt/sources.list'
sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-noetic-desktop-full ros-noetic-joy ros-noetic-octomap-ros ros-noetic-mavlink python3-wstool python3-catkin-tools protobuf-compiler libgoogle-glog-dev ros-noetic-control-toolbox ros-noetic-mavros python3-rosdep python3-pip
pip3 install future
sudo rosdep init
rosdep update
source /opt/ros/noetic/setup.bash

#   CREATE CATKIN - ROS WORKSPACE
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin init  # initialize your catkin workspace
wstool init

#   IF YOU WISH TO INITIALIZE CATKIN WORKSPACE AT BEGINING OF SESSION
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install bebop_autonomy

cd ~/catkin_ws/src
git clone https://github.com/AutonomyLab/parrot_arsdk.git src/parrot_arsdk
git clone https://github.com/AutonomyLab/bebop_autonomy.git src/bebop_autonomy
rosdep update
rosdep install --from-paths src -i
source /opt/ros/noetic/setup.bash

cd ~/catkin_ws
#   Leer nota 1)
catkin build

Nota 1) tal vez sea necesario aplicar los siguientes parches en caso de error a parrot_arsdk:

• arsdk_patch_1.patch
• arsdk_patch_2.patch

Cómo aplicarlos:

cd ~/catkin_ws/src
git apply bobop_aruco_detect/patches/arsdk_patch_*.patch --directory=parrot_arsdk/

Puede que sea necesario correexport LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/catkin_ws/src/devel/lib/parrot_arsdk cada que se vuelva a cargar source/devel/setup.bash o bien se puede dejar como configuración:

echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:\$HOME/catkin_ws/src/devel/lib/parrot_arsdk" >> ~/.bashrc
source ~/.bashrc

INSTALLATION

cd ~/catkin_ws/src
git clone [email protected]:cimat-ris/bebop_aruco_detect.git
cd ~/catkin_ws
catkin build bobop_aruco_detect

TESTING

Para terminar cualquier programa: ctrl + c

# @ bebop_ws
# Screen 1
roslaunch bebop_aruco_detect bebop_aruco_detect_nodelet.launch
# Screen 2 (cámara)
rosrun rqt_image_view rqt_image_view