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https://github.com/Intermodalics/tango_ros

ROS related software for Tango
https://github.com/Intermodalics/tango_ros

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ROS related software for Tango

Awesome Lists containing this project

README 

        
# Introduction

This repository hosts the code of the Tango Ros Streamer application.  

It is an Android application for [Tango](https://get.google.com/tango/)-enabled devices.

Its main purpose is to provide Tango sensor data to the [ROS](http://wiki.ros.org/) ecosystem in order to easily use the Tango functionalities on robots.  

Please read our [ROS wiki](http://wiki.ros.org/tango_ros_streamer) for more information.



This work is developed by [Intermodalics](http://www.intermodalics.eu/) in collaboration with [Ekumen](http://www.ekumenlabs.com/) and [Google Tango](https://get.google.com/tango/).  

Do not hesitate to give us feedback if something is broken or if you think it lacks some features. The best way to do this is by adding issues to this repository.



# Known projects using TangoRosStreamer

* [tangobot](http://github.com/ekumenlabs/tangobot/): An android application to navigate with the [Turtlebot](http://www.turtlebot.com/) using Tango.

* [RTAB-Map](http://wiki.ros.org/rtabmap_ros/Tutorials/Tango%20ROS%20Streamer): Use [rtabmap](http://wiki.ros.org/rtabmap_ros) with the Tango data.



# Kickstart

The app is available in Google's Play Store: https://play.google.com/store/apps/details?id=eu.intermodalics.tango_ros_streamer  

It can be installed on any Tango-enabled device. Note that the minimum Tango version required to run Tango Ros Streamer is Yildun (you will find the Tango release history [here](https://developers.google.com/tango/release-notes)). To check the Tango version of your device go to Settings->Apps->Tango Core.  

Please read our [ROS tutorial](http://wiki.ros.org/tango_ros_streamer/Visualisation) for help when running the app.



# Installation from source

For this guide, we assume that you have a clean installation of Ubuntu 14.04 and we will use ROS Indigo. However, the app should also work on Ubuntu 16.04 in combination with ROS Kinetic.



## Install ROS

Follow this the guide for [Indigo (14.04)](http://wiki.ros.org/indigo/Installation/Ubuntu) or [Kinetic (16.04)](http://wiki.ros.org/kinetic/Installation/Ubuntu) and go for the Desktop -- Full Install:



```

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-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-indigo-desktop-full

sudo rosdep init

rosdep update

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt-get install ros-indigo-rosjava-build-tools

sudo apt-get install ros-indigo-genjava

```

Replace indigo by kinetic if you are using Ubuntu 16.04.



## Building roscpp_android

Next, we need to build ```roscpp_android```. A more detailed guide is available [here](http://wiki.ros.org/android_ndk/Tutorials/BuildingNativeROSPackages).



```

sudo apt-get update

sudo apt-get install curl git

curl -sSL https://get.docker.com/ | sudo sh

mkdir ~/ros-android-ndk

cd ~/ros-android-ndk

git clone https://github.com/ekumenlabs/roscpp_android.git

cd roscpp_android

./do_docker.sh --portable

```



Note that the last command will take long time to complete.



## Building the app

First clone the repository at the correct location:

```

mkdir -p ~/tango_ros_ws/src

cd ~/tango_ros_ws/src

git clone --recursive [email protected]:Intermodalics/tango_ros.git

cd ~/tango_ros_ws

``` 



Copy the the content of the output ```roscpp_android_ndk``` folder into ```tango_ros/third_party/roscpp_android_ndk/```, except the ```Android.mk``` file and the ```share``` folder.



```

cp -r ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/lib/ ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/

cp -r ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/include/ ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/

cp ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/Application.mk ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/

```



Create a local.properties file

```

touch ~/tango_ros_ws/src/tango_ros/TangoRosStreamer/local.properties

```

In this file, write the path to your Android SDK and NDK in the following way e.g.:

```

ndk.dir=/opt/android-ndk-r10b

sdk.dir=/opt/android-sdk-linux

```

If you haven't installed the SDK and NDK already, follow the instructions in section [Developing with Android Studio](#developing-with-android-studio).



Install catkin tools if necessary.

```

sudo apt-get install python-catkin-tools

```



Build the app and generate its .apk file.

```

catkin build --no-jobserver

``` 



Plug your device to your desktop and install the app on your device using [adb](http://developer.android.com/studio/command-line/adb.html).

```

adb install -r -d ~/tango_ros_ws/src/tango_ros/TangoRosStreamer/app/build/outputs/apk/app-debug.apk

```



# Developing with Android Studio



We recommend using Android Studio as a development tool. 



## Installation of Android Studio

The steps detailed below are based on this [installation guide](http://wiki.ros.org/android/kinetic/Android%20Studio/Download).



For Android Studio we need Java, so let's install this first. On Ubuntu 14.04, we need to install openjdk-7-jdk, while on Ubuntu 16.04 we recommend to use openjdk-8-jdk instead.

```

sudo apt-get update

sudo apt-get install openjdk-7-jdk

echo "export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-amd64/" >> ~/.bashrc

```

In case the build insists of using Java 8 when using Ubuntu 14.04,

check and point to the version installed by android-studio:

```

cat /opt/android-studio/jre/release

echo "export JAVA_HOME=/opt/android-studio/jre/" >> ~/.bashrc

```



Subsequently, download Android Studio from [here](https://developer.android.com/studio/index.html) and unzip (for example) to /opt/android-studio:



```

cd /opt

sudo unzip ~/Downloads/android-studio-ide-145.3537739-linux.zip

```



Let's add it to the path for convenience:

```

echo export PATH=\${PATH}:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-studio/bin >> ~/.bashrc

```



Pick a directory where to store the Android SDK, for example here:

```

sudo mkdir /opt/android-sdk

sudo chown $(whoami) /opt/android-sdk

echo export ANDROID_HOME=/opt/android-sdk >> ~/.bashrc

```



## Building the app with Android Studio



Launch Android Studio:

```

source ~/.bashrc

source ~/tango_ros_ws/devel/setup.bash

studio.sh

```



After launch, open the Configure -- SDK Manager. From SDK Platforms, install Android 4.4 and 5.1 (API level 19 + 22). From SDK Tools, install `NDK` and `Android SDK Build-Tools 21.1.2 + 25.0.2 + 25.0.3`. 



Now extend your PATH variable so that ```ndk-build``` can be executed:

```

echo "export PATH=\{$ANDROID_HOME}/ndk-bundle:\${PATH}" >> ~/.bashrc

source ~/.bashrc

```



In Android Studio, choose "Import project" and select the app folder (```~/tango_ros_ws/src/tango_ros/TangoRosStreamer```). 



In your local.properties file check that the paths to your Android SDK and NDK are set properly. The Gradle set-up relies on the following variables that need to set up. This can be done using the auto-generated local.properties file or gradle properties in the HOME folder (~/.gradle/gradle.properties).  

Example:

```

ndk.dir=/opt/android-ndk-r10b

sdk.dir=/opt/android-sdk-linux

```



Plug your device to your desktop and press the green arrow in Android Studio. It will build and install the app on the device.