taarn_mallard_onboard

Dependencies

Make sure all dependencies are configured according to the following guide before build the package. Some of these packages need extra procedures or specific versions to work. See below for installation instructions

1. MallARD

ice9-dev branch (may later be merged into master)

git clone -b ice9-dev [email protected]:EEEManchester/MallARD.git

2. visual_virtual_tether

git clone [email protected]:EEEManchester/visual_virtual_tether.git

3. microstrain_inertial

git clone --recursive -b ba60f4a46f107a19ea7c321c44507198660fdcff https://github.com/LORD-MicroStrain/microstrain_inertial.git

We need to checkout to specific commits that work for us (newest may not build properly)

cd microstrain_inertial
git checkout ba60f4a46f107a19ea7c321c44507198660fdcff
cd microstrain_inertial_driver/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common
git checkout 80378f949792743bdc15de1c549e7ff28d00004e

4. hector_slam

This is not the official hector_slam but modified for MallARD with added ros services for fixing map.

git clone -b mallard https://github.com/EEEManchester/hector_slam.git

Note

If catkin build complains about QT version:

Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x

You may need to remove the hector_slam/hector_geotiff and hector_slam/hector_geotiff_plugins packages - we don't need them anyways - and the build folder then rebuild

cd hector_slam
rm -r hector_geotiff hector_geotiff_plugins

5. mavros & mavlink

git clone -b 1.15.0 https://github.com/mavlink/mavros.git
git clone -b 1.0.9 https://github.com/mavlink/mavlink.git

6. Others

Install standard ROS packages: usb_cam, apriltag_ros, sick_tim

sudo apt install ros-melodic-usb-cam=0.3.7-1bionic.20230322.235948
sudo apt install ros-melodic-apriltag-ros=3.2.1-1bionic.20221025.223206
sudo apt install ros-melodic-sick-tim=0.0.17-1bionic.20230524.174840

Build

rosdep install --from-paths src -i -r
catkin build

Udev rule

Copy and apply udev rules for the downward facing camera. If a new camera is used, make sure udev rule is updated with the correct idVendor and idProduct.

sudo cp install/99.camera.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules; sudo udevadm trigger

Run

roslaunch taarn_mallard_onboard mallard_onboard.launch