NeuROAM

This document outlines the steps to set up the ROS 2 Humble workspace containing the drivers for the sensors used in the NeuROAM project, managed via Git submodules.

1. Prerequisites

• Jetson: Flashed with Jetpack 6.1
• Operating System: Ubuntu 22.04 LTS (Jammy Jellyfish)
• ROS Version: ROS 2 Humble Hawksbill (rosHumble installation)
• Git: Required for cloning and submodules (sudo apt install git)
• FLIR Spinnaker SDK:
  • Required: Download manually from the FLIR website (SpinnerSDK for Linux Ubuntu 22.04, ARM64)
  • During installation accept the following:
    • Add your user to the flirimaging group
    • Set USB FS memory to 1000MB
    • Add Examples to PATH and register GenTL producer
    • sudo reboot
  • Verify installation by using SpinView tool
• System Dependencies:

    sudo apt update
    sudo apt install python3-rosdep libudev-dev \
         libjsoncpp-dev libeigen3-dev libtins-dev libpcap-dev \
         flatbuffers-compiler libflatbuffers-dev libglfw3-dev \
         python3-colcon-common-extensions python3-colcon-argcomplete \
         ros-humble-image-transport-plugins

• User Groups:

  sudo usermod -a -G dialout $USER
  sudo usermod -a -G flirimaging $USER
  sudo reboot

2. Workspace Setup

Clone the NeuROAM Repo:

cd ~
git clone https://github.com/neufieldrobotics/NeuROAM.git NeuROAM
cd ~/NeuROAM
git checkout Drivers
git submodule update --init --recursive

Install ROS Dependencies:

cd ~/NeuROAM
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install # Takes about 10 minutes
source install/setup.bash

3. Hardware Setup & Configuration

• Connections: Connect all USBs and Ethernet
• Ouster Netwrok Setup and Config:
  • Set the Jetson's Ethernet port to static IP 192.168.1.10
    • check port with ifconfig (e.g. enP8pp1s0 connected to Ouster)
    • confirm connection and name with nmcli connection show name should be "Wired connection 1"
    • ping os-<SERIAL NUMBER ON OUSTER>.local This will show your ousters IP, I belive that all should be default to 192.168.1.11
    • sudo nmcli connection modify "Wired connection 1" ipv4.addresses 192.168.1.10/24 ipv4.method manual Changes ethernet port IP on jetson
    • sudo nmcli connection down "Wired connection 1 Refresh
    • sudo nmcli connection up "Wired connection 1
    • ping 192.168.1.11 Validate connection
  • in ~/NeuROAM/src/ouster-ros/ouster-ros/config/driver_params.yaml
    • set sensor_hostname: '192.168.1.11'
• FLIR Config:
  • in ~/NeuROAM/src/flir_camera_driver/spinnaker_camera_driver/launch
    • In driver_node.launch.py copy the blackfly_s parameters and paste them into multiple_cameras.launch.py camera_params
    • in multiple_cameras.launch.py Update default_value in LaunchArg(cam_*_serial, default_value="'25094299'", description='....') for both camera_0_serial and camera_1_serial to the corresponding serials on the cameras
• Vectornav IMU Config:
  • Nothing needs to be done as of now
• Ublox GPS Config:
  • in ~/NeuROAM/src/ublox/ublox_gps/config/zed_f9p.yaml
    • remove svn_in and everything below
    • set tmode3 = 0
    • sete publish all: false (these get rid of NACK)
  • in ~/NeuROAM/src/ublox/ublox_gps/launch/ublox_gps_node-launch.py
    • update 'c9_m8p_rover.yaml' in param_config = os.path.join(config_directory, 'c94_m8p_rover.yaml') to 'zed_f9p.yaml

4. Running Basic Example

• you should now be able to launch basic ros commands:
  • cd ~/NeuROAM
  • ros2 launch vectornav vectornav.launch.py
  • ros2 launch ublox_gps ublox_gps_node-launch.py
  • ros2 launch spinnaker_camera_driver multiple_cameras.launch.py
  • ros2 launch ouster_ros driver.launch.py
• as well as basic topic echo and data visualization:
  • ros2 topic echo /vectornav/imu
  • ros2 topic echo /ublox_gps_node/fix
  • rqt in GUI go to plugins -> visualization -> image view (refresh and select camera image_raw)