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List To Do
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-------------------------
### Jetson Nano Setup ###
-------------------------
1. Install SDK Manager v.1.8 or newer in the master PC
2. Insert SD_CARD into Jetson Nano (Format SD_CARD as FAT32)
3. add pin jumper in j48 on the left side of the USB port to disable usb power
4. Force Jetson Nano into Recovery Mode by add pin jumper in the FRC pin and GND
5. Turn on Jetson Nano with DC jack 2.5 mm 5 Volt PSU
6. Connect Jetson Nano with the PC that have been installed with SDK Manager via micro USB Port
7. Choose Device target in the SDK Manager as Jetson Nano
8. Install Jetpack 4.6.2 and Cuda 10.2
9. Choose Manually Setup
10. Wait until the process is complete
--------------------
### Upgrade SWAP ###
--------------------
1. free -h (showing the active swap size)
2. sudo fallocate -l 8G /mnt/8GB.swap
3. sudo chmod 600 /mnt/8GB.swap
4. sudo mkswap /mnt/8GB.swap
5. sudo vi /etc/fstab
* /mnt/8GB.swap swap swap defaults 0 0 (add this line in the last line of the fstab file)
6. save and exit
7. reboot
------------------------------
### CUDA 10.2 post installation ###
------------------------------
1. export PATH=/usr/local/cuda-10.2/bin${PATH:+:${PATH}}
2. export LD_Library_PATH=/usr/local/cuda-10.2/lib64\
> ${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
----------------------
### Check CUDA GPU ###
----------------------
which nvidia-smi
nvidia-smi
nvcc --version
---------------------------
### Install ROS Melodic ###
---------------------------
1. Building Dependencies
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
2. Install ROS Full Desktop
sudo apt install ros-melodic-desktop-full
3. Setup Environment
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
4. Initializing all ros dependencies
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update
--------------------------------------
### additional python3 ros packages ###
--------------------------------------
1. sudo apt-get install python-catkin-pkg
2. sudo apt-get install python3-catkin-pkg-modules
3. sudo apt-get install python3-rospkg-modules
-------------------------
### vim python plugin ###
-------------------------
https://linuxhint.com/vim-python-development/
------------------------------------------
### upgrade python 3 version to >= 3.7 ###
------------------------------------------
0. python3 -V
1. sudo apt update
2. sudo apt install python3.x (x -> version)
3. python3.x
4. exit()
5. sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.[old version] 1
6. sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.x 2
7. sudo update-alternatives --config python3
8. sudo rm /usr/bin/python3
9. sudo ln -s python3.x /usr/bin/python3
10. python3 --version
--------------------------------------
### Install PC9685 python3 library ###
--------------------------------------
1. sudo pip3 install adafruit-circuitpython-pca9685
2. sudo pip3 install adafruit-circuitpython-servokit
------------------------
### hokuyo urg_lidar setup ###
------------------------
*reference:
http://wiki.ros.org/urg_node
clone from github repository at https://github.com/ros-drivers/urg_node
roscd
cd ../src/
git clone https://github.com/ros-drivers/urg_node
cd ..
catkin_make
*note: if there are some errors while making the package, install some dependencies for urg_node :
1. laser_proc (sudo apt install ros-melodic-laser-proc)
2. urg_c (sudo apt install ros-melodic-urg-c)
*how to run:
chmod 666 /dev/ttyACM0
roslaunch urg_node urg_node
*rviz visualization:
rviz
add by topic -> /laser
set fixed frame into laser
-------------------------
### hector_slam setup ###
-------------------------
*reference:
https://www.youtube.com/watch?v=Qrtz0a7HaQ4
http://wiki.ros.org/hector_slam
clone from github repository at https://github.com/tu-darmstadt-ros-pkg/hector_slam
roscd
cd ../src/
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
cd ..
catkin_make
*Setup:
1. open mapping_default.launch at hector_slam/hector_mapping/launch/
2. change base_frame and odom_frame parameter value into "base_link"
3. at the end of the line add tf static_transfor_publisher node:
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
4. open tutorial.launch at hector_slam/hector_slam_launch/launch/
5. set use_sim_time param into false (because we use it as a real-time mapping)