al3xius / sdc-ros

SDC-ROS

Setup:

Setup a Linux machine, we recommend using Ubuntu 16.04.

Don't forget to install Python and Pip:

sudo apt install python-pip python-dev python-virtualenv

1. Install ROS Kinetic according to their tutorial http://wiki.ros.org/kinetic/Installation.

2. Install all ros extention packages:

sudo apt install ros-kinetic-joy ros-kinetic-rosserial-arduino ros-kinetic-rosserial ros-kinetic-rosserial-server ros-kinetic-rplidar-ros ros-kinetic-cv-bridge ros-kinetic-cv-camera ros-kinetic-usb_cam ros-kinetic-openni2-launch

3. Install the required Python Packages:

sudo pip install opencv-contrib-python
sudo pip install scipy
sudo pip install ipdb
sudo pip install simple-pid
sudo pip install futures requests
sudo pip install python3-yaml
sudo pip install kivy-garden
sudo pip3 install --user rospkg catkin_pkg simple-pid
sudo pip3 install adafruit-circuitpython-gps

4. Install Kivy:

sudo add-apt-repository ppa:kivy-team/kivy
sudo apt update
sudo apt install python-kivy python3-kivy
sudo garden install mapview

5. Install Tensorflow preferably use their own Guide https://www.tensorflow.org/install/pip.

If their guide is not working for you try:

sudo pip install tensorflow

or

virtualenv --system-site-packages ~/tensorflow
source ~/tensorflow/bin/activate
easy_install -U pip
pip install --upgrade tensorflow

6. Clone the repository:

cd ~/catkin_ws
git clone https://github.com/al3xius/SDC-ROS.git

Rename the folder to src:

sudo mv SDC-ROS src

7. Clone dependend repoyitorys:

cd ~/catkin_ws/src
git clone https://github.com/Kukanani/vision_msgs.git

8. Run sdccommands:

cd ~/catkin_ws/src/commands
sudo bash sdccommands

9. Buld:

sdcmake

10. Try to run:

sdclaunch

If you get any error messages telling you to install missing Packages, try to do so. If not all required hardware is connected you will get error messages.

Make USB Devices static https://msadowski.github.io/linux-static-port/:

Get unique ID with udevadm info --name=/dev/ttyUSBxx --attribute-walk.

edit rules.d sudo nano /etc/udev/rules.d/99-usb-serial.rules

paste

KERNEL=="ttyUSB*", ATTRS{idVendor}=="xxxx", SYMLINK+="arudino0"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="xxxx", SYMLINK+="arudino1" 
KERNEL=="ttyUSB*", ATTRS{idVendor}=="xxxx", SYMLINK+="lidar0"

reload rules udevadm control --reload-rules