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

# 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

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

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

dbaldwin

# From ~/Videos/Screencasts

docker run -v $(pwd):/config linuxserver/ffmpeg -i /config/mavlink_shell.webm -c:v libx264 -c:a aac -vf "pad=ceil(iw/2)*2:ceil(ih/2)*2" /config/mavlink_shell.mp4

dbaldwin

# On Raspberry Pi to Windows PC running MAVSDK server
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600 --out 192.168.86.29:14550

# On RPi4 with telemetry cable
 mavproxy.py --master=/dev/ttyAMA0 --baudrate 57600 --out 192.168.11.116:14550

# On Windows PC
 .\mavsdk_server_win32.exe udp://:14550
 
# Modified from MAVSDK script

dbaldwin

# Here we import our own MQTT library which takes care of a lot of boilerplate
# code related to connecting to the MQTT server and sending/receiving messages.
# It also helps us make sure that our code is sending the proper payload on a topic
# and is receiving the proper payload as well.
from bell.avr.mqtt.client import MQTTModule
from bell.avr.mqtt.payloads import (
    AvrFcmVelocityPayload,
    AvrApriltagsRawPayload
)

dbaldwin

# Launch AVR Sim
root@ubuntu:~/AVR-2022/VMC# ./start.py -s -l run simulator mqtt fcm web

# Publish to FCM topic on MQTT Broker
avr/fcm/actions

# Absolute
{"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "lat": 32.8085506, "lon": -97.1563441, "alt": 3},{"type":"goto","lat":32.8085769115908,"lon":-97.15634413537362,"alt":2},{"type":"goto","lat":32.808576911586705,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212819,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212411,"lon":-97.15634413536391,"alt":2},{"type":"land", "lat":32.80854996212411,"lon":-97.15634413536391, "alt": 0}]}}

# Relative

dbaldwin

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

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-melodic-joint-state-publisher-gui

mkdir -p ~/catkin_ws/src

dbaldwin

# Update CMakeLists in ~/catkin_ws/src/unitree_ros/unitree_controller
catkin_install_python(PROGRAMS scripts/joint_mover.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)


#!/usr/bin/env python
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header