RoverGps

Prerequisites

• Install Docker Desktop for Windows
• Run the container docker run --name ros -d -p 5901:5901 -p 6901:6901 -p 11311:11311 -p 9090:9090 henry2423/ros-vnc-ubuntu:melodic

Installation and Configuration

Update the ROS Package Repository GPG Key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

Update the apt-get cache

sudo apt-get update

Install image view

sudo apt-get install ros-melodic-image-view

Install the camera calibration package

sudo apt-get install ros-melodic-camera-calibration

Install the undistorted image node

sudo apt-get install ros-melodic-image-proc

Install the apriltag library

sudo apt-get install ros-melodic-apriltag-ros

Install the ROS bridge

sudo apt-get install ros-melodic-rosbridge-server

Install the video stream package

sudo apt-get install ros-melodic-video-stream-opencv

Test the video stream

rosrun video_stream_opencv test_video_resource.py rtsp://viewer:viewer@192.168.1.50/axis-media/media.amp

Running

Run the ROS master

roscore

Run the ROS bridge

roslaunch rosbridge_server rosbridge_websocket.launch

Run analysis tools

rosrun rqt_graph rqt_graph
rosrun rqt_image_view rqt_image_view
rosrun rviz rviz

Run the image capturing

cd /home/ros/Desktop/gps/
roslaunch mycamera.launch

Run the continuous detection

cd /home/ros/Desktop/gps/
roslaunch my_continuous_detection.launch

One-time camera calibration

See http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

1. rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0348 image:=/camera/image_raw camera:=/camera
   • The small board is 0.0348and the large is 0.076.
2. Find the calibration data in /tmp/calibrationdata.tar.gz
3. Extract the calibration data
   1. mkdir /tmp/calibrationdata/
   2. tar xvzf /tmp/calibrationdata.tar.gz -C /tmp/calibrationdata/
4. Get the calibration file
   1. cat /tmp/calibrationdata/ost.yaml
5. Run the camera image capturing
6. View the undistorted image
   1. ROS_NAMESPACE=camera rosrun image_proc image_proc

Docker

See https://hub.docker.com/r/elcalan/rovergps

Build the image

docker build -t elcalan/rovergps:latest .

Run the image

docker run -it --rm --name gps --env "CAMERA_IP=192.168.1.50" -p 11311:11311 -p 9090:9090 -v $(pwd)/RoverGps:/home/ros/gps elcalan/rovergps:latest

Run a Bash inside the container

docker run -it --rm --name gps -p 11311:11311 -p 9090:9090 -v $(pwd)/RoverGps:/home/ros/gps elcalan/rovergps:latest /bin/bash

Attach with a new Bash to the running container

docker exec -it gps /bin/bash
source /opt/ros/melodic/setup.bash