This repository contains the ROS packages already bundled on the Parrot S.L.A.M.dunk.
It can be useful for advanced users who want to understand how the bundled packages work, to modify them or to write a custom subscriber to one of the custom ROS messages.
- ROS version: Indigo
- Host PC recommended OS: Ubuntu 14.04
- Documentation: http://developer.parrot.com/docs/slamdunk/
sudo apt-get update
sudo apt-get install build-essential git
ROS indigo:
source /opt/ros/indigo/setup.bash
mkdir -p ~/slamdunk_catkin_ws/src
cd ~/slamdunk_catkin_ws/src
catkin_init_workspace
cd ~/slamdunk_catkin_ws/
catkin_make -j2
source devel/setup.bash
git clone https://github.com/Parrot-Developers/slamdunk_ros.git src/slamdunk_ros
git clone https://github.com/Parrot-Developers/gscam.git src/gscam
The slamdunk_node and slamdunk_bebop_robot depends on kalamos-context,
which is a S.L.A.M.dunk-specific library.
To build the slamdunk_ros package outside of the Parrot S.L.A.M.dunk,
they need to be disabled.
touch src/slamdunk_ros/slamdunk_node/CATKIN_IGNORE
touch src/slamdunk_ros/slamdunk_bebop_robot/CATKIN_IGNORE
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y
catkin_make -j2
Note: If you attempt to build for ROS Kinetic, refer to the troubleshooting section about Qt:
Make sure rviz and rqt are installed:
sudo apt-get install ros-indigo-rviz ros-indigo-rqt ros-indigo-rqt-plot
If you are not on the Parrot S.L.A.M.dunk itself, configure you environment, e.g:
export ROS_MASTER_URI="http://192.168.45.1:11311"
export ROS_HOSTNAME=$(hostname).local
A perspective that plot the gyrometers and accelerometers in rqt:
rqt --perspective-file $(rospack find slamdunk_visualization)/rqt/slamdunk.perspective
To visualize cameras, depthmap, SLAM pose and much more, use rviz:
rviz -d $(rospack find slamdunk_visualization)/rviz/slamdunk.rviz
You may encounter this error,
for example after upgrading a ROS package that depends on OpenCV
such as ros-indigo-cv-bridge, ros-indigo-image-geometry
or ros-indigo-image-pipeline:
$ catkin_make -j2
...
make[2]: *** No rule to make target `/usr/lib/arm-linux-gnueabihf/libopencv_videostab.so.2.4.8', needed by `/home/slamdunk/catkin_ws/devel/lib/...'. Stop.
...
This error is due to OpenCV4Tegra version which is slightly different from the OpenCV package provided by Ubuntu. The differences are:
- version: 2.4.8 => 2.4.13
- location: /usr/lib/arm-linux-gnueabihf/ => /usr/lib/
- libopencv_ocl.so.2.4.8: removed
To fix the issue, type:
for file in share/cv_bridge/cmake/cv_bridgeConfig.cmake \
share/image_proc/cmake/image_procConfig.cmake \
share/image_geometry/cmake/image_geometryConfig.cmake \
share/compressed_image_transport/cmake/compressed_image_transportConfig.cmake
do
sudo sed -e 's#;/usr/lib/arm-linux-gnueabihf/libopencv_ocl.so.2.4.8##' \
-e 's#/usr/lib/arm-linux-gnueabihf/libopencv_\([[:alnum:]]\+\)\.so\.2\.4\.8#/usr/lib/libopencv_\1.so.2.4.13#g' \
-i /opt/ros/indigo/$file
done
When building the packages against ROS Kinetic, you may have a compilation issue:
$ catkin_make -j2
...
-- ==> add_subdirectory(slamdunk_ros/slamdunk_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
qmake: could not exec '/usr/lib/x86_64-linux-gnu/qt4/bin/qmake': No such file or directory
CMake Error at /usr/share/cmake-3.5/Modules/FindQt4.cmake:1326 (message):
Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x
Call Stack (most recent call first):
slamdunk_ros/slamdunk_visualization/CMakeLists.txt:22 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/gpapin/slamdunk_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/gpapin/slamdunk_catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
$
Or less obviously,
encounter a segmentation fault
when running one of the slamdunk_visualization rviz plugins.
These errors happens because rviz uses Qt5 in ROS Kinetic, instead of Qt4 in previous versions.
To fix these issues, turn on the UseQt5 option:
catkin_make -DUseQt5=ON -j2