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Version Matching

ZED Box Info:

python ~/Code/utilities/jetsonUtilities/jetsonInfo.py

output on ZED Box:

NVIDIA lanai-3636
L4T 32.6.1 [ JetPack 4.6 ]
Ubuntu 18.04.6 LTS
Kernel Version: 4.9.253-tegra
CUDA 10.2.300
CUDA Architecture: NONE
OpenCV version: 4.1.1
OpenCV Cuda: NO
CUDNN: 8.2.1.32
TensorRT: 8.0.1.6
Vision Works: 1.6.0.501
VPI: 1.1.15
Vulcan: 1.2.70

ROS Melodic for support both ZED Cameras and turtlebot3

Installation

  1. Install ROS Meolodic

  2. set up ROS_IP and ROS_MASTER in the .bashrc file source it.

  3. Install turtlebot ros package sudo apt-get install ros-melodic-turtlebot3-*

Additional changes to the ZED Box:

  1. Resolve python 2 and 3 conflict in melodic, future python script needs to have a compiler header on top of the file: #!/usr/bin/env python

  2. Chnage default python version: sudo update-alternatives --install /usr/bin/python python /usr/bin/python2.7 1 and sudo update-alternatives --config python

Finally, do a test run:

Launch keyboard teleoperation: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Start gazebo simulation: roslaunch turtlebot3_gazebo turtlebot3_world.launch

This should make the robot run around in the simulation already.

E. To uninstall : sudo apt-get remove ros-*

OpenCR Kernel on TX2 and Real world operation

  1. Open kernel for openCR board: https://github.com/jetsonhacks/jetson-linux-build

  2. Give it sudo for the OpenCR micro usb port: sudo chmod 666 /dev/ttyACM0

  3. Bring the robot up: roslaunch turtlebot3_bringup turtlebot3_robot.launch

  4. Launch keyboard teleoperation: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Note> Make sure that you connect the OpenCR board to a power source with correct (12V) output and switch on the board, otherwise it will only read data from the micro-usb port but not actually driving the motors.

ZED Camera Setup

We are using ZED version 3.7.1 ---> make sure this is the case for ZED SDK in all computers.

ZED Local streaming script

  1. The default streaming script that could be directly connected to Unity can be found in the following path: /usr/local/zed/samples/"camera streaming"/sender/python

  2. Switch to the correct python for running the script:

sudo update-alternatives --config python

  Selection    Path                Priority   Status
------------------------------------------------------------
  0            /usr/bin/python3.6   2         auto mode
  1            /usr/bin/python2.7   1         manual mode
  2            /usr/bin/python3.6   2         manual mode
* 3            /usr/bin/python3.7   1         manual mode
  1. Choose 2

ZED ROS Wrapper

  1. Since the ZED Box has Ubuntu 18.04, we need to pull the ZED Ros wrapper for this SDK tag
 git clone --recursive  https://github.com/stereolabs/zed-ros-wrapper.git  --branch v3.7.x --single-branch

  1. Open a new console and do cd ~/catkin_ws && source ./devel/setup.bash

  2. roslaunch for the zedmini camera: roslaunch zed_wrapper zedm.launch

Basic Robot bring up:

  1. Run roscore

  2. Give it sudo for the OpenCR micro usb port: sudo chmod 666 /dev/ttyACM0

  3. Bring the robot up: roslaunch turtlebot3_bringup turtlebot3_robot.launch

  4. Launch keyboard teleoperation: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Result:

turtlebot3 first bring up

Robot Telelop from a remote PC, config:

On the ZED Box: ROS_MASRER_URI=http://[REMOTE]:11311 && roslaunch turtlebot3_bringup turtlebot3_robot.launch On the Remote PC: roscore && roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch