02.0 Setup Catkin Workspace
Create folder structure for catkin workspace
mkdir -p ~/catkin_ws/src
Due to the structure of ROS, functionalities are structured in packages. The following packages need to be installed to be able to use all functionalities of the system. If you only need to visualize data from CAN-bus you can skip everything related to the Realsense SDK from Intel referring to the cameras.
- ros_canopen: Forward incoming and outgoing CAN Messages to and from ROS topics, interface between logic and CAN-hardware. To be able to communicate with the physical CAN transceivers you need to follow the instructions provided in Setup CAN Communication on AGX first.
cd ~/catkin_ws/src/
git clone https://github.com/ros-industrial/ros_canopen.git
- Realsense Wrapper for ROS: Communication with Intel 3D cameras, we are using two Intel D455 cameras. After cloning the repository make sure to do the adjustments mentioned in Realsense SDK on AGX to be able to communicate with multiple cameras.
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
sudo apt-get install ros-melodic-ddynamic-reconfigure
- bfft_can_bus_msgs_to_ros_topic: Decode incoming CAN messages and publish them to corresponding topics. The hardware setup guide for the ADMA Slim IMU is mentioned in the Setup ADMA Slim CAN-Bus Guide.
cd ~/catkin_ws/src/
git clone https://github.com/Black-Forest-Formula-Team/bfft_can_bus_msgs_to_ros_topic.git
- bfft_rosbag_data_conversion: Take data recorded in ROSBAGS (internal data format) and export it into CSV files (one per topic). Use CSV files for data visualization purpose
cd ~/catkin_ws/src/
git clone https://github.com/Black-Forest-Formula-Team/bfft_rosbag_data_conversion.git
For more input please refer to the Catkin Docs
When going into the source folder of the workspace (cd ~/catkin_ws/src ) it should look like this:
After downloading these packages and installing the corresponding libraries and dependancies you can move on to the build process!
