https://github.com/kaantuncer/Moborobo-Project/

• Run these commands in your workspace:

• git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
  cd rslidar_sdk
  git submodule init
  git submodule update
  
  sudo apt-get update
  sudo apt-get install -y libyaml-cpp-dev
  sudo apt-get install -y  libpcap-dev  
  

• For more info, you can visit: https://github.com/RoboSense-LiDAR/rslidar_sdk

• rewriten line 17 in navigation.launch (node pkg gmapping part)
• removed robosense_16.dae geometry part in RS-16.urdf.xacro file (line 20-22)
• for rslidar we set the parameters for ethernet connection as:
  • connect the ethernet (yellow thick cable)
  • enter the wired settings from top-right menu
  • set the ipv4 method as manual
  • enter address as 192.168.1.102
  • enter netmask as 255.255.255.0
• some parameters are changed and added to the config.yaml file such as:
  • change-> send_packet_ros: true (line 6)
  • change-> lidar_type: RS16 (line 10)
  • add-> frame_id: rslidar (line 13)

• sudo apt install ros-noetic-slam-toolbox

• Download the zip file in the link: https://github.com/SteveMacenski/slam_toolbox/tree/noetic-devel.

• You need to extract the zip file inside the on_robot/src directory

• sudo apt install ros-noetic-pointcloud-to-laserscan

• Run this command in your workspace/src (on_robot/src): git clone https://github.com/ros-perception/pointcloud_to_laserscan.git --branch indigo-devel --single-branch

• Go to the file Moborobo-Project/on_robot/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp and change the line 241 as : PLUGINLIB_EXPORT_CLASS(pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet); (inspired from ros-perception/depthimage_to_laserscan#31)

• commented out line 17-23 in navigation.launch (node pkg gmapping part)

  • For execution:

    • sudo apt install ros-noetic-slam-toolbox
    • cp /opt/ros/noetic/share/slam_toolbox/config/mapper_params_online_async.yaml catkin_ws/src/moborobo/config/
    • roslaunch slam_toolbox online_async.launch params_file:=./src/moborobo/config/mapper_params_online_async.yaml use_sim_time:=true 2> >(grep -v TF_REPEATED_DATA buffer_core)

• sudo apt install ros-noetic-rviz-imu-plugin
  sudo apt install ros-noetic-rtabmap
  sudo apt install ros-noetic-rtabmap-ros
  sudo apt install ros-noetic-depthimage-to-laserscan
  
  cd /your_workspace(on_robot)/src
  git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
  cd ..
  rosdep install --from-paths src --ignore-src -r -y
  catkin_make -DCMAKE_BUILD_TYPE=Release
  source devel/setup.bash
  
  cd /your_workspace(on_robot)/src
  git clone https://github.com/stereolabs/zed-ros-interfaces.git
  cd ../
  rosdep install --from-paths src --ignore-src -r -y
  

• Before catkin_make you should remove the zed-ros-interfaces file which is inside the zed-ros-wrapper file

• catkin_make -DCMAKE_BUILD_TYPE=Release
  source devel/setup.bash
  
  cd /your_workspace(on_robot)/src
  git clone https://github.com/stereolabs/zed-ros-examples.git
  cd ..
  rosdep install --from-paths src --ignore-src -r -y
  catkin_make -DCMAKE_BUILD_TYPE=Release
  source devel/setup.bash
  

• Run this command to test to see whether it works or not: roslaunch zed_display_rviz display_zed2.launch

• Download the file torch-2.0.0+nv23.05-cp38-cp38-linux_aarch64.whl from the website https://developer.download.nvidia.com/compute/redist/jp/v511/pytorch/
• Run these commands directly

  export TORCH_INSTALL=~/Downloads/torch-2.0.0+nv23.05-cp38-cp38-linux_aarch64.whl
  
  pip install --upgrade pip
  pip install numpy==’1.16.5’
  pip install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v511/pytorch/torch-2.0.0+nv23.05-cp38-cp38-linux_aarch64.whl
  

• cd your_workspace(on_robot)/src/moborobot/scripts
  git clone https://github.com/ChaoningZhang/MobileSAM.git
  

• There is a file named mobile_sam inside the cloned repository
• Cut the mobile_sam folder and paste it to the scripts file (one level higher)
• Run the python script python3 path/to/python/script/road_detector.py

• pip install pyserial

• sudo apt install ros-noetic-nmea-msgs

• Need to be sure that gps is connected with usb port

• if permission denied while running the py script:

  • sudo su
  • //type your password
  • cd /
  • cd dev
  • chown username ttyUSB0

• rosrun moborobo locoSysPublisher.py for publishing the gps data

• rosrun moborobo locoSysSubscriber.py for obtaining and reading the data (or you can simply run rostopic echo /moborobo/mygps)

Simulation: sudo apt-get install ros-noetic-hector-gazebo-plugins

• run this command in catkin_ws before launch: source devel/setup.bash
• for launch: roslaunch moborobo gmapping_room.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)