https://github.com/gofirst-robotics/lunabotics-2023
The official NASA Robotic Mining Challenge 2023 repository for University of Minnesota Robotics.
https://github.com/gofirst-robotics/lunabotics-2023
gstreamer nvidia-isaac-ros nvidia-jetson-orin-nano ros2-foxy ros2-humble
Last synced: 7 months ago
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The official NASA Robotic Mining Challenge 2023 repository for University of Minnesota Robotics.
- Host: GitHub
- URL: https://github.com/gofirst-robotics/lunabotics-2023
- Owner: GOFIRST-Robotics
- Created: 2022-09-13T20:59:22.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2024-03-17T20:05:49.000Z (over 1 year ago)
- Last Synced: 2025-01-22T14:34:31.822Z (9 months ago)
- Topics: gstreamer, nvidia-isaac-ros, nvidia-jetson-orin-nano, ros2-foxy, ros2-humble
- Language: Python
- Homepage:
- Size: 538 KB
- Stars: 3
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# LUNABOTICS-2023
The official NASA RMC 2023 repository for LUNABOTICS team, a segment of University of Minnesota Robotics.
We started developing on the Nvidia Jetson TX2 (running Ubuntu 18.04 and ROS 2 Eloquent) but eventually switched over to the newer Nvidia Jetson Orin Nano (running Ubuntu 20.04 and ROS 2 Foxy)
## How to Run Inside Docker Container
Open this repository in vscode then run ctrl-shift-p and type "Remote-Containers: Reopen in Container".
Just press "from dockerfile" and then it will build the container and run it.
When open, run the following commands in the terminal:
```
source /opt/ros/foxy/setup.sh
colcon build
source install/setup.sh
```
## ROS 2 General Workspace Tips
Make sure to `source install/setup.bash` in every new terminal.
Run `rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y` to install package dependencies.
Run `rm -r build install log` to clean your workspace.
To configure Sonarlint & Intellisense for C++ development, run `colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1`. Then, point Sonarlint to the `compile_commands.json` file that is created in your `build` directory.
## Joystick Node
```
ros2 run joy joy_node --ros-args --params-file config/joy_node.yaml
```
## NavX Node
```
ros2 run navx navx_node
```
## EKF Node
Start the navX Node first with the command above, and then
run the script in /scripts that starts the static transform publisher from base_link to imu_link with the command:
```
./imu_link_transform_publisher.sh
```
Start the EKF node with ROS parameters:
```
ros2 run robot_localization ekf_node ekf_filter_node --ros-args --params-file config/ekf.yaml
```
## Intel RealSense Camera Setup
Follow the instructions outlined [here](https://github.com/IntelRealSense/realsense-ros#installation) to set up the RealSense depth camera on your machine.
## Apriltag Detection Setup
Follow [this](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag/blob/main/docs/tutorial-usb-cam.md) tutorial to set up Apriltag detection on your machine.
## Gstreamer Commands
Start Gstreamer H.265 Encoding (On Nvidia Jetson TX2):
```
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,width=640,height=480,framerate=30/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=I420" ! omxh265enc bitrate=200000 ! "video/x-h265,stream-format=byte-stream" ! h265parse ! rtph265pay ! udpsink host=127.0.0.1 port=5000
```
Start Gstreamer H.265 Decoding (On Nvidia Jetson TX2):
```
gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,payload=96" ! rtph265depay ! h265parse ! omxh265dec ! nvvidconv ! xvimagesink
```
Start Gstreamer H.264 Encoding (On Nvidia Jetson Orin Nano):
```
gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,width=640,height=480,framerate=15/1" ! nvvidconv ! "video/x-raw,format=I420" ! x264enc bitrate=300 tune=zerolatency speed-preset=ultrafast ! "video/x-h264,stream-format=byte-stream" ! h264parse ! rtph264pay ! udpsink host=127.0.0.1 port=5000
```
Start Gstreamer H.264 Decoding (On Nvidia Jetson Orin Nano):
```
gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,payload=96" ! rtph264depay ! h264parse ! avdec_h264 ! nvvidconv ! xvimagesink
```
Start Gstreamer H.265 Decoding (On Ubuntu Laptop):
```
gst-launch-1.0 udpsrc port=5000 ! application/x-rtp, encoding-name=H265, payload=96 ! rtph265depay ! h265parse ! nvh265dec ! xvimagesink sync=false
```
Start Gstreamer H.264 Decoding (On Ubuntu Laptop):
```
gst-launch-1.0 udpsrc port=5000 ! application/x-rtp, encoding-name=H264, payload=96 ! rtph264depay ! h264parse ! nvh264dec ! videoflip method=vertical-flip ! xvimagesink sync=false
```
(Change the /dev/video device to add more webcams, and the port number to stream multiple webcams at once)
## Useful Resources/References
Configuring the Nvidia Jetson TX2 for CAN Communication:
1) https://www.mathworks.com/help/supportpkg/nvidia/ug/jetson-can-bus-traffic-sign-detection.html
2) https://forums.developer.nvidia.com/t/how-to-use-can-on-jetson-tx2/54125
[VESC CAN Status Frames Spreadsheet](https://github.com/codermonkey42/VESC_CAN)