README.md

ncu_mdog

About The Project

This is the drivers and sample code of ncu_mdog.

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Hardware List

• jetson nano 4GB
• Ydlidar X4
• Intel Realsence D435i
• MPU9250
• HTS-20L * 12
• One-Wire Serial Bus Servo Controller Board

Built With

• jetson nano 4GB
• Ubuntu 18.04
• Ros melodic
• RTIMULIB

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Getting Started

Prerequisites

• apt part

sudo apt updat
sudo apt-get install build-essential python3-catkin-tools

• cmake part

cd ~
git clone https://github.com/jetsonhacks/RTIMULib.git

cd RTIMULib/Linux
mkdir build
cd build
cmake .. -DBUILD_DEMO=0 -DBUILD_GL=0
make -j4
sudo make install
sudo ldconfig

• python package

pip install pyserial

Installation

get to your workspace/src then clone and build the package:

cd ~/catkin_ws/src
git clone https://github.com/NcuMathRoboticsLab/NCU_Mdog.git
cd ..
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.sh (source ~/.bashrc)
roscd ncu_mdog/startup
sudo chmod 777 ./*
sudo sh initenv.sh

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Usage

roslaunch ncu_mdog project_sample.launch

Acknowledgments

• RTIMULIB

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