Author: chengguizi

Progress Log – Week 04

2018/02/05 Build and Run ROS-Based viso2 & MATLAB output Building Issues with message *.hpp file Not Found Due to missing dependency declaration within CMakeLists.txt, the first build always generates failure. It is resolved simply by reruning the build. To fix this, following component must be present: find_package(catkin REQUIRED COMPONENTS roscpp rospy sensor_msgs dynamic_reconfigure cmake_modules sensor_fusion_comm … Continue reading Progress Log – Week 04 →

Progress Log – Week 03

2018/01/29 Interfacing VI-sensor from ROS http://wiki.ros.org/vi_sensor #making sure you have all the necessary dependencies sudo apt-get install libeigen3-dev libboost-dev libopencv-dev #change directory into catkin folder cd ~/<CATKIN_WS>/src #checkout low-level driver git clone https://github.com/ethz-asl/libvisensor.git #checkout ROS frontend git clone https://github.com/ethz-asl/visensor_node.git # make visensor cd .. catkin_make # add the next line to the .bashrc source ~/<CATKIN_WS>/devel/setup.bash … Continue reading Progress Log – Week 03 →

Progress Log – Week 01

This is the first week of my year-long research project, marking the beginning... 2017/01/17 I was handed with existing research on stereo visual odometry from Autonomous Vision Group, Karlsruhe Institute of Technology. http://www.cvlibs.net/software/libviso/ The algorithm takes in rectified images with known calibration parameters. The stereo vision is based on "minimizing the reprojection error of sparse … Continue reading Progress Log – Week 01 →

Installing FlyCapture2

Increasing USB3 Buffer Reference: https://www.ptgrey.com/tan/10685 1. Open the /etc/default/grub file in any text editor. Find and replace: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash" with this: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=1000" 2. Update grub with these settings: $ sudo update-grub 3. Reboot and test a USB 3.1 camera. If this method fails to set the memory limit, run the following command: $ sudo … Continue reading Installing FlyCapture2 →

Fresh Install of ROS Kinetic & Kalibr Environment on Ubuntu 16.04 x64

System Pre-Configuration System Tested: Ubuntu 16.04 x64 Update to latest version sudo apt-get update sudo apt-get dist-upgrade # only if necessary   Installing ROS Kinetic Reference: http://wiki.ros.org/kinetic/Installation/Ubuntu sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 sudo apt-get update sudo apt-get install ros-kinetic-desktop-full   sudo rosdep init … Continue reading Fresh Install of ROS Kinetic & Kalibr Environment on Ubuntu 16.04 x64 →

UART Port Usage on Raspberry Pi

UART Brief TxD = BCM pin 14 RxD = BCM pin 15 Default inputs   Preventing Linux from claiming the UART port raspi-config Run sudo raspi-config and check if it has the option advanced options -> serial. If it has, set it to disabled and you're done. http://wiringpi.com/reference/serial-library/   Enable uart in /boot/config.txt In order … Continue reading UART Port Usage on Raspberry Pi →