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Embedded World Demo

Preparation

  • Hardware

  • ROS 1 Melodic Environment

    You can simply use ros_menu to install ROS.

  • Jetson Inference

    Please follow jetson-inference to download and build the environment for Deep Learning. In this demo, we are going to use the detectnet of jetson-inference.

  • All the other dependencies

    # for ouster lidar
    sudo apt install -y \
        build-essential \
        libeigen3-dev   \
        libjsoncpp-dev  \
        libspdlog-dev   \
        cmake

Download

mkdir -p ~/ew_demo_ws/src
cd ~/ew_demo_ws/src
git clone https://github.com/Adlink-ROS/ew_demo.git
git clone https://github.com/Adlink-ROS/pc_filter_ros.git
git clone https://github.com/Adlink-ROS/ros_deep_learning.git -b ew_demo
git clone https://github.com/Adlink-ROS/cam_lidar_calib.git -b ew_demo
git clone --recurse-submodules https://github.com/Adlink-ROS/ouster-ros.git -b ew_demo

ROS dependent packages

cd ~/ew_demo_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build workspace

cd ~/ew_demo_ws
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Then, add `source ~/ew_demo_ws/devel/setup.bash` to the .bashrc or ROS Menu

Run calibration script

# example for camera port1
roslaunch ew_demo calibration.launch port1:=true

Run demo script

roslaunch ew_demo ew_demo.launch