Jose Luis Blanco-Claraco jlblancoc

Contributor License Agreement (CLA) – MOLA

Thank you for your interest in contributing to MOLA.

In order to accept your contributions, we require you to agree to the following terms:

1. Grant of Rights

You hereby grant to the MOLA project maintainers a perpetual, worldwide, non-exclusive, royalty-free, irrevocable license to:

Install lib4adev driver library

The Microsoft Kinect for Azure (k4a) is only supported officially for Ubuntu 18.04.

Here are instructions to install its library in a more recent OS:

# Download these two .deb files: 
wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb
wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb

Install ROS 1 (Noetic) on Ubuntu 22.04 (Jammy)

In general, follow these instructions: http://wiki.ros.org/noetic/Installation/Source

You will find these errors, though:

Problem 1

Problem: hddtemp is not found as a rosdep. Solution:

Introduction

These commands are shown in the YouTube tutorial: xxx

Based on the official docs with the addition of the automatic sending of ready\r\n on boot, as required by the firmware of my boards (these ones).

Rules for all boards:

Open Module Configuration -> Set module to Generic (18). Click save.
Now, depending on the number of relays on your board, do the next 1, 2 or 4 changes:

Search for:

([\r\n ,\.\t\[\_\*\>\(\-\!\&\{])m_([a-zA-Z0-9_]*)

Replace with:

$1$2_

	services:
	mola-core:
	#restart: always
	build:
	context: ./
	dockerfile: ./docker/Dockerfile
	args:
	- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
	- CYCLONEDDS_URI=file:///root/ros2_ws/cylconedds_config.xml
	network_mode: host

	from launch import LaunchDescription
	from launch.substitutions import LaunchConfiguration
	from launch_ros.actions import Node
	from launch.actions import (DeclareLaunchArgument,
	EmitEvent, LogInfo, RegisterEventHandler)
	from launch.event_handlers import OnProcessExit
	from launch.events import Shutdown
	from ament_index_python import get_package_share_directory
	import os

	function [] = dibuja_dep(x, Fs)
	% Dibuja la densidad espectral de potencia (dep)
	% o power spectral density (psd) de una señal "x" muestreada a una
	% frecuencia de muestreo "Fs" (Hz)
	N = length(x);
	X = fft(x);
	X = X(1:N/2+1);
	psdx = (1/(FsN)) abs(X).^2;
	psdx(2:end-1) = 2*psdx(2:end-1);
	freq = 0:Fs/length(x):Fs/2;

	#include <boost/archive/binary_iarchive.hpp>
	#include <boost/archive/binary_oarchive.hpp>
	#include <boost/archive/text_iarchive.hpp>
	#include <boost/archive/text_oarchive.hpp>
	#include <fstream>
	#include <gtsam/base/serialization.h>

	// ... Includes for your values and factors:
	#include <gtsam/base/GenericValue.h> // GTSAM_VALUE_EXPORT
	#include <gtsam/geometry/Pose2.h>

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