The source code maintained in this repository contains ROS1 packages (running on the prototype shown above with ROS Noetic on Ubuntu 20.04). Included hardware on the platform is:
- Computer: BMAX Maxmini B3 Plus
- LiDAR: Hesai Pandar-XT32
- Visual-inertial Tracking Camera: Intel RealSense T265
- Inertial Measurement Units: PhidgetsSpatial Precision 3/3/3 HighRes
The LiDAR driver (SDK and ROS wrapper) is included as a catkin package in this repository in the folder hesai_lidar_general. Dependencies are:
- libpcap-dev
- libyaml-cpp-dev
- python-catkin-tools
Install them all with apt package manager:
$ sudo apt install libpcap-dev libyaml-cpp-dev python-catkin-tools
The T265 camera ROS wrapper is included as a catkin package in this repository in the folder vio_tracking_t265. Dependencies are:
- librealsense2 (=2.50 patched)
Do not install librealsense2 from the apt package manager! It is likely a version that does not support the T265 camera anymore. Even if you manage to install a legacy version, it likely does not include an important patch!
Follow these instructions to compile and install the patched version of librealsense2.
The ROS wrapper for the IMUs is included as a catkin package in this repository in the folder imu_odom_phidgets.
Dependencies are:
- libphidget22
- libphidget22-dev
Install libphidget22 using the official script:
$ sudo apt install curl
$ curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash -
$ sudo apt update
$ sudo apt install -y libphidget22 libphidget22-dev
If the install script fails, visit this page for alternative methods.
First step is to install ROS. Preferably ROS Melodic or ROS Noetic (if available). ROS2 is currently not supported.
Go inside your catkin workspace. If you don't already have one:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
Then clone this repository:
$ git clone https://github.com/JMUWRobotics/sphere-mobile-mapping.git
Build the packages:
$ cd ..
$ catkin_make
Use the launch file included in this repository to launch all the nodes. This files also includes all parameters such as extrinsic parameters.
roslaunch ~/catkin_ws/src/sphere.launch
Some packages contain their own README file which includes more detailed information. A 3D model (stl file) of the laser-cut assembly parts will follow shortly.
Contact: [email protected]