Dennis Baldwin dbaldwin

Overview

I've put this documentation to supplement the awesome VIO repo from Auterion. While the VIO code performs very well it does take quite a bit of work to get up and running. So I'm covering this in my YouTube video and this gist.

Install ROS on Jetson Nano (YouTube Link)

Automatic Addison has great tutorials on ROS. His installation guide is the most concise out there. This section contains the commands from Addison's ROS installation guide.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt update
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update

	# From Windows terminal
	docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

	# Access the instance through the url
	http://localhost:6080

	# From home directory in Docker
	mkdir -p catkin_ws/src

	# Go into catkin workspace

	# From Windows terminal
	docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

	# Access the instance through the url
	http://localhost:6080

	# From home directory in Docker
	mkdir -p catkin_ws/src

	# Go into catkin workspace

	#include "ros/ros.h"
	#include "geometry_msgs/Twist.h"
	#include <math.h>

	#define PI 3.14

	int main(int argc, char **argv)
	{
	ros::init(argc, argv, "dennis_test");
	ros::NodeHandle nh;

	# Download image
	https://www.dropbox.com/s/ayut7eqlasa8jwz/wsl_ubuntu_unitree_sdk.tar?dl=0

	# Import image (you will need to change your paths below)
	wsl --import Unitree-SDK-Dev C:\Users\denni\Desktop C:\Users\denni\Downloads\wsl_ubuntu_unitree_sdk.tar

	# List images to confirm it was imported
	wsl -l -v

	# Start the distribution

	FROM ubuntu:18.04

	WORKDIR /home/droneblocks

	RUN apt-get update && apt-get install -y \
	build-essential \
	cmake \
	libboost-all-dev \
	pkg-config \
	libglib2.0-dev \

	# Windows with VcXsrv
	export GAZEBO_IP=127.0.0.1
	export DISPLAY=$(cat /etc/resolv.conf \| grep nameserver \| awk '{print $2}'):0
	export LIBGL_ALWAYS_INDIRECT=0

	# RViz
	roslaunch go1_description go1_rviz.launch

	# Joint publisher GUI for ROS Noetic
	rosrun joint_state_publisher_gui joint_state_publisher_gui

	# Imports
	from djitellopy import Tello
	import threading
	import time
	import math

	# Maximum speed sent to send_rc_control
	MAX_SPEED = 1.5

	# If the distance to the target is less than the minimum then just set to zero to keep Tello close

	# Reference articles
	# https://ardupilot.org/dev/docs/making-a-mavlink-wifi-bridge-using-the-raspberry-pi.html
	# https://www.raspberrypi.org/documentation/configuration/wireless/access-point-routed.md

	# Update system files
	sudo apt-get update

	# Install Python and MavProxy
	sudo apt-get install python-pip python-dev libxml2-dev libxslt-dev
	sudo pip install MAVProxy

	<!DOCTYPE html>
	<html>
	<head>
	<title>Disconnected</title>
	<meta charset="utf-8" />
	<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
	<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
	</head>

	<body>