Fixposition Installation
========================

To install the package simply follow the instructions.

.. * Install dependencies

.. .. code:: bash

..    sudo pip3 install opencv-python imutils

* Navigate to your workspace

.. code:: bash

   cd ~/catkin_ws/src

* Clone the Fixposition ros driver 

.. code:: bash

   git clone https://github.com/fixposition/fixposition_driver.git
   git clone https://github.com/fixposition/fixposition_gnss_tf.git

* Install the ros driver dependencies

.. code:: bash

   cd ..
   sudo apt update -qq
   rosdep update
   rosdep install --from-paths src --ignore-src -y

* Build the workspace

.. code:: bash

   catkin_make -DCMAKE_BUILD_TYPE=Release

* Activate the workspace

.. code:: bash

   source devel/setup.bash

* (Optional) Permanently source your workspace

.. code:: bash

   cd
   gedit .bashrc

- Add to the last line

.. code:: bash

   source /home/<your_username>/catkin_ws/devel/setup.bash

- Additionally to view the camera stream in ROS please install.

.. code:: bash

   sudo apt-get install ros-noetic-video-stream-opencv

- After which you can add a launch file to any of you rospkgs with the following configuration:

.. code:: bash

   <launch>
      <include file="$(find video_stream_opencv)/launch/camera.launch" >
         <arg name="camera_name" value="fixposition_cam" />
         <arg name="video_stream_provider" value="http://10.0.2.1:8888/stream?topic=/camera/image" />
         <!-- Low res http://10.0.2.1:8888/stream?topic=/camera/lowres/image -->
         <arg name="fps" value="10" />
         <arg name="frame_id" value="fixposition _frame" />
         <arg name="camera_info_url" value="" />
         <arg name="flip_horizontal" value="false" />
         <arg name="flip_vertical" value="true" />
         <arg name="visualize" value="false" />
      </include>
   </launch>