dbaldwin

Overview

I've put this documentation to supplement the awesome VIO repo from Auterion. While the VIO code performs very well it does take quite a bit of work to get up and running. So I'm covering this in my YouTube video and this gist.

Install ROS on Jetson Nano (YouTube Link)

Automatic Addison has great tutorials on ROS. His installation guide is the most concise out there. This section contains the commands from Addison's ROS installation guide.

• 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 update
• sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
• sudo apt-get update

dbaldwin

#!/bin/bash
# Revert from RTSP streaming back to ROS2 camera (dexi.service)
#
# Usage:
#   bash revert_to_ros2.sh

set -e

echo "==> Stopping mediamtx..."
sudo systemctl stop mediamtx 2>/dev/null || sudo pkill mediamtx 2>/dev/null || true

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Image///

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# From Windows terminal
docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

# Access the instance through the url
http://localhost:6080

# From home directory in Docker
mkdir -p catkin_ws/src

# Go into catkin workspace

dbaldwin

PX4 Docker Build on Mac M3

Quick Build Command

docker run --rm -w /src \
  --platform linux/amd64 \
  --env=CCACHE_DIR=/ccache \
  --volume=${HOME}/.ccache:/ccache:rw \
  --volume=$(pwd):/src:rw \

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# PX4 params file for AVR 2025 drone with DroneBlocks Compute Kit

# Optical flow and range sensing
1	1	EKF2_OF_CTRL	1	6
1	1	EKF2_GPS_CTRL	0	6
1	1	UAVCAN_SUB_FLOW	1	6
1	1	UAVCAN_SUB_RNG	1	6
1	1	EKF2_RNG_A_HMAX	10.000000000000000000	9
1	1	EKF2_RNG_QLTY_T	0.200000002980232239	9
1	1	UAVCAN_RNG_MIN	0.079999998211860657	9

dbaldwin

https://answers.ros.org/question/251691/coordinate-system-in-ros/
https://docs.px4.io/main/en/ros2/user_guide#compatibility-issues

ros2 run tf2_ros static_transform_publisher 0.5 0 0 1.57 0 0 world 90_around_x

ros2 run tf2_ros static_transform_publisher 1 0 0 1.57 0 3.14 world world_ned

dbaldwin

# From Windows terminal
docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

# Access the instance through the url
http://localhost:6080

# From home directory in Docker
mkdir -p catkin_ws/src

# Go into catkin workspace

dbaldwin

#!/bin/bash

## Bash script for setting up ROS Noetic (with Gazebo 11) development environment for PX4 on Ubuntu LTS (20.04). 
## It installs the common dependencies for all targets (including Qt Creator)
##
## Installs:
## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`
## - ROS Noetic (including Gazebo11)
## - MAVROS

dbaldwin

docker run -p 6080:80 --shm-size=512m tiryoh/ros2-desktop-vnc:foxy

# Go to http://localhost:6080 and open a terminal
# Menu > System Tools > MATE Terminal

sudo apt update

mkdir -p ~/ros2_ws/src

cd ~/ros2_ws/src