TX2控制turtlebot3实机用L515相机跑openvins （ubuntu18.04+ROS melodic）

Jetson TX2

由于树莓派3性能不咋滴，
故尝试用TX2作为turtlebot的SBC（single board computer）
本文使用Ubuntu18.04+ROS melodic，16.04+kinetic的步骤仅作为作者备份

刷机（Ubuntu18.04安装）

TX2原本自带16,但16似乎不能装realsense2的sdk。
故刷机

https://blog.csdn.net/qq_40695642/article/details/107936625?ops_request_misc=&request_id=&biz_id=102&utm_term=ubuntu18%20tx2%20jetpack4.4%E5%88%B7%E6%9C%BA&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-1-107936625.first_rank_v2_pc_rank_v29&spm=1018.2226.3001.4187

风扇开启

sudo gedit /sys/devices/pwm-fan/target_pwm
#数字改为0-250中的任意数

卸载opencv4

可跳过

https://blog.csdn.net/qq_45067735/article/details/108690541?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164247238516780271941363%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164247238516780271941363&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-3-108690541.first_rank_v2_pc_rank_v29&utm_term=TX2%E5%8D%B8%E8%BD%BDopencv4&spm=1018.2226.3001.4187

换国内镜像源

注意：TX2和树莓派都是ARM架构，有别与计算机的AMD架构。
ubuntu 16.04 ARM

https://blog.csdn.net/u010953692/article/details/77715865

ubuntu 18.04 ARM

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main universe restricted

菜单栏位置设置
菜单栏放到 Bottom/Left

gsettings set com.canonical.Unity.Launcher launcher-position Bottom
gsettings set com.canonical.Unity.Launcher launcher-position Left

安装ROS Melodic

ROS Melodic 流程：

https://blog.csdn.net/frankcreen/article/details/106030526?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164242993716780264016734%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=164242993716780264016734&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~baidu_landing_v2~default-1-106030526.first_rank_v2_pc_rank_v29&utm_term=ROS+Melodic+arm&spm=1018.2226.3001.4187

Ros Kinetic 流程：

https://blog.csdn.net/liaoze22/article/details/106467362?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164232214516780265469419%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=164232214516780265469419&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-1-106467362.pc_search_result_control_group&utm_term=ubuntu16.04%E5%AE%89%E8%A3%85ros+kinetic&spm=1018.2226.3001.4187

http报错

https://www.cnblogs.com/dakewei/p/13332194.html

CV_Bridge 错误

TX2中自带opencv 4.1.1，如果没有卸载的情况下：

cd /opt/ros/melodic/share/cv_bridge/cmake
sudo gedit cv_bridgeConfig.cmake

第96行：把
set(_include_dirs “include;/usr/include;/usr/local/opencv”)
改成
set(_include_dirs “include;/usr/local/include;/usr/local/include/opencv4”)

ssh

主机远程连接TX2

参考: 3.2.7ROS Network Configuration

https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

SBC:

ifconfig
nano ~/.bashrc
export ROS_MASTER_URI=http://{IP_ADDRESS_OF_REMOTE_PC}:11311
export ROS_HOSTNAME={IP_ADDRESS_OF_RASPBERRY_PI_3}
source ~/.bashrc

host:

ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}

报错

https://blog.csdn.net/lvhdbb/article/details/96894933

TX2独立运行ROS

由于ssh会把roscore权限给主机，故需要重新改一下host（直接终端输入就行）

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

openvins

mkdir -p ~/workspace/catkin_ws_ov/src/
cd ~/workspace/catkin_ws_ov/src/
git clone https://github.com/rpng/open_vins/
cd ..

sudo apt install python-catkin-tools
catkin build -DENABLE_ARUCO_TAGS=OFF 

修改launch文件，路径改成本地数据集地址。

<!-- bag parameters -->
<param name="path_bag"    type="string" value="/home/你的地址/MH_04_difficult.bag"/>
<param name="path_gt"     type="string" value="$(find ov_data)/euroc_mav/MH_04_difficult.csv" />
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ov_msckf)/launch/display.rviz" />

跑一下数据集测试安装成功

cd catkin_ws_ov
source devel/setup.bash
roslaunch ov_msckf pgeneva_serial_eth.launch

L515相机

anzhaung

Realsenselib

https://blog.csdn.net/rosfreshman/article/details/116404077?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164233406116780255272490%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164233406116780255272490&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-116404077.first_rank_v2_pc_rank_v29&utm_term=tx2+openvins&spm=1018.2226.3001.4187

sudo apt-get install ros-melodic-ddynamic-reconfigure

https://blog.csdn.net/wm3vdy88/article/details/109184411?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164233398916780264050092%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164233398916780264050092&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-5-109184411.first_rank_v2_pc_rank_v29&utm_term=tx2+realsense&spm=1018.2226.3001.4187

https://blog.csdn.net/hongliyu_lvliyu/article/details/115697202?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164300427116780366533571%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164300427116780366533571&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-3-115697202.pc_search_result_cache&utm_term=openvins%E8%AE%BE%E5%A4%87&spm=1018.2226.3001.4187

peizhi

https://blog.csdn.net/weixin_46135347/article/details/121771922?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164334905716780269822477%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164334905716780269822477&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-121771922.first_rank_v2_pc_rank_v29&utm_term=d435i+Hardware+Notification%3AMotion+Module+failure&spm=1018.2226.3001.4187

opencr

https://www.youtube.com/watch?v=fGEq_0aWpoA

SBC:

sudo apt install ros-melodic-rosserial-python ros-melodic-tf ros-melodic-hls-lfcd-lds-driver ros-melodic-turtlebot3-msgs ros-melodic-dynamixel-sdk
cd ~/catkin_ws/src
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
cd turtlebot3
rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example
source /opt/ros/melodic/setup.sh
cd ~/catkin_ws && catkin_make

cd ~
sudo dpkg --add-architecture armhf
sudo apt-get update
sudo apt-get install libc6:armhf
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL={TB3_MODEL}
cd ./opencr_update

https://blog.csdn.net/qq_42001765/article/details/114932139?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164249850516780269860927%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164249850516780269860927&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-114932139.first_rank_v2_pc_rank_v29&utm_term=Unable+to+connect+to+repo.download.nvidia.com%3Ahttps%3A&spm=1018.2226.3001.4187

https://blog.csdn.net/yys2324826380/article/details/108207072?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164300453616780271531099%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164300453616780271531099&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-23-108207072.pc_search_result_cache&utm_term=vins-mono%E8%B7%91%E8%87%AA%E5%B7%B1%E7%9A%84%E6%95%B0%E6%8D%AE%E9%9B%86&spm=1018.2226.3001.4187

https://blog.csdn.net/weixin_44444810/article/details/121252009?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164300453616780271531099%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164300453616780271531099&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-16-121252009.pc_search_result_cache&utm_term=vins-mono%E8%B7%91%E8%87%AA%E5%B7%B1%E7%9A%84%E6%95%B0%E6%8D%AE%E9%9B%86&spm=1018.2226.3001.4187

https://blog.csdn.net/crp997576280/article/details/112385494?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164300453616780271531099%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164300453616780271531099&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-3-112385494.pc_search_result_cache&utm_term=vins-mono%E8%B7%91%E8%87%AA%E5%B7%B1%E7%9A%84%E6%95%B0%E6%8D%AE%E9%9B%86&spm=1018.2226.3001.4187

https://blog.csdn.net/weixin_39123145/article/details/79959086?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164300453616780271531099%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164300453616780271531099&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-4-79959086.pc_search_result_cache&utm_term=vins-mono%E8%B7%91%E8%87%AA%E5%B7%B1%E7%9A%84%E6%95%B0%E6%8D%AE%E9%9B%86&spm=1018.2226.3001.4187